Reachability-based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum

Yang，Shunpeng1; Chen，Hua1; Zhang，Luyao1; Cao，Zhefeng1; Wensing，Patrick M.2; Liu，Yizhang3; Pang，Jianxin3; Zhang，Wei1

10.1109/ICRA48506.2021.9561872

2021

IEEE International Conference on Robotics and Automation (ICRA)

1050-4729

2577-087X

978-1-7281-9078-5

Proceedings - IEEE International Conference on Robotics and Automation

2021-May

9022-9028

MAY 30-JUN 05, 2021

null,Xian,PEOPLES R CHINA

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

This paper studies push recovery for humanoid robots based on a variable-height inverted pendulum (VHIP) model. We first develop an approach for treating zero-step capturability of the VHIP with a novel methodology based on Hamilton-Jacobi (HJ) reachability analysis. Such an approach uses the sub-zero level set of a value function to encode capturability of the VHIP, where the value function is obtained by numerically solving a HJ variational inequality offline. Based on this analysis, a simple and effective method for adjusting foothold locations is then devised for cases where the VHIP state is not zero-step capturable. In addition, the HJ reachability analysis naturally induces an optimal control law that allows for rapid planning with the VHIP during push recovery online. To enable use of the strategy with a position-controlled humanoid robot, an associated differential inverse kinematics based tracking controller is employed. The effectiveness of the overall framework is demonstrated with the UBTECH Walker robot in the MuJoCo simulator. Simulation validations show a significant improvement in push robustness as compared to the methods based on the classical linear inverted pendulum model.

Legged locomotion Level set Conferences Humanoid robots Optimal control Kinematics Robustness

第一 ; 通讯

英语

CPCI-S ; EI

Automation & Control Systems ; Robotics

Automation & Control Systems ; Robotics

WOS:000765738802072

20220911738021

Anthropomorphic robots ; Inverse kinematics ; Inverse problems ; Recovery ; Variational techniques

Mechanical Devices:601.1 ; Robotics:731.5 ; Calculus:921.2 ; Mechanics:931.1

2-s2.0-85125502188

Scopus

1.Department of Mechanical and Energy Engineering,Southern University of Science and Technology,China
2.Department of Aerospace and Mechanical Engineering,University of Notre Dame,United States
3.UBTECH Robotics Inc,

Yang，Shunpeng,Chen，Hua,Zhang，Luyao,et al. Reachability-based Push Recovery for Humanoid Robots with Variable-Height Inverted Pendulum[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2021:9022-9028.