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History of Robotics Research and Development of Japan2006LocomotionA Passivity-Based Optimal Contact Force Control for Humanoid Robots with Redundant Joints and Multiple Contact Points

Sang-Ho HyonJST/ATR-CNS (currently Ritsumeikan University)
This paper proposes a practical contact force control framework for force-controllable legged robots with redundant joints, which is applicable to automatic/semi-automatic control for mobile robots, construction robots, bipedal humanoid robots, and assistive devices. The proposed method requires: 1) no contact forces measurements; 2) no inverse kinematics; 3) nor inverse dynamics in achieving the desired contact forces. Combined with a passivity-based redundancy resolution technique, a contact force closure is optimally solved and transformed directly into joint torques in real-time. Experimental results on a full-sized biped humanoid robot show that the proposed method can simultaneously control the multiple contact forces without generating internal forces, and can naturally interact with unknown external forces. Recently, the method is applied to hydraulic biped humanoid robots, quadruped robots and exoskeleton robots by the author. 23th RSJ Best Paper Award in 2009.
シーソーバランス
Balancing on seesaw
全身運動教示
全身運動教示
転倒回避動作
転倒回避動作
CPG併用による準動歩行
Quasi-dynamic walking using CPG
バッティングデモ
Batting demo

Movies

photo
Compliant balancing control and dynamic walking on hydraulic humanoid robot

Correspondence papers

Hyon, S., and Cheng, G.：冗長自由度を有する脚式ロボットの実用的な接触力制御手法とバランス制御への応用

Proc. of 25th Annual conf. of the RSJ, 3H12, 2007 (in Japanese).

Hyon, S.：Compliant terrain adaptation for biped humanoids without measuring ground surface and contact forces

IEEE Transactions on Robotics, vol.25, no.1, pp. 171-178, 2009.

Hyon, S., Hale, J. G., and Cheng, G.：Full-body Compliant Human-Humanoid Interaction: Balancing in the Presence of Unknown External Forces

IEEE Transactions on Robotics, 2007

Hyon, S., and Cheng, G.：Passivity-based full-Body force control for humanoids and application to dynamic balancing and locomotion

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4915-4922, 2006.

Related papers

[1] Sang-Ho Hyon, Learning Similar Dynamic Motions Incrementally Using Joint Trajectories Obtained by Quasi-Static Execution, Vol. 27, No. 9, pp. 1025-1028, 2009 (in Japanese).

[2] Hyon, S., Yoneda, T. and Suewaka, D., Lightweight hydraulic leg to explore agile legged locomotion, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013.11, Tokyo, Japan, pp.4655-4660.

[3] Hyon, S., Hayashi, T., Yagi, A., Noda, T. and Morimoto, J., Design of hybrid drive exoskeleton robot XoR2, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013.11, Tokyo, Japan, pp.4642-4648.

[4] Ishida, H., Suewaka, D., Nishi, H. and Hyon, S., Development of torque-controlled hydraulic robot platforms, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop, 2013.11, Tokyo, Japan. (poster)

[5] Hyon, S., Matsubara, T., Morimoto, J., Kawato, M., XoR: Hybrid drive exoskeleton robot that can balance, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.9, San Francisco, USA, pp.3975-3981.

[6] Yamaguchi, A., Hyon, S., Ogasawara, T., Reinforcement learning for balancer embedded humanoid locomotion, in Proc. IEEE-RAS International Conference on Humanoid Robots, 2010, Nashville, USA, ppp.308-313.

[7] Hyon, S., Morimoto, J. and Kawato, M., From compliant balancing to dynamic walking on humanoid robot: Integration of CNS and CPG, IEEE International Conference on Robotics and Automation, Anchorage, USA, 2010, pp.1084-1085.

[8] Hyon, S., Osu, R. and Otaka, Y., Integration of multi-level postural balancing on humanoid robots, IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009, pp.1549-1556. (Finalist of The Best Conference Paper Award)

[9] Hyon, S., Moren, J. and Cheng, G., Humanoid batting with bipedal balancing, in Proceedings of IEEE-RAS International Conference on Humanoid Robots, Daejon, Korea, pp.493-499, 2008.

[10]Hyon, S., Morimoto, J. and Cheng, G., Hierarchical motor learning and synthesis with passivity-based controller and phase oscillator, in Proceedings of IEEE International Conference on Robotics and Automation, Pasadena, USA, 2008, pp.2705-2710.

[11] Hyon, S., A motor control strategy with virtual musculoskeletal systems for compliant anthropomorphic robots, IEEE/ASME Transactions on Mechatronics, vol.14, issue 6, pp.677-688, 2009.

[12] Hyon, S. and Cheng, G., Simultaneous adaptation to rough terrain and unknown external forces for biped humanoids, in Proceedings of IEEE-RAS International Conference on Humanoid Robots, Pittsburgh, USA, 2007.

[13] Hyon, S. and Cheng, G., Disturbance rejection for biped humanoids, in Proceedings of IEEE International Conference on Robotics and Automation, pp.2668-2675, Roma, Italy, 2007.

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