In this paper, we consider the problem of generating appropriate motions for a torque- controlled humanoid robot that is assigned a multi-contact loco-manipulation task, i.e., a task that requires the robot to move within the environment by repeatedly establishing and breaking multiple, non-coplanar contacts. To this end, we present a complete multi-contact planning and control framework for multi-limbed robotic systems, such as humanoids. The planning layer works offline and consists of two sequential modules: first, a stance planner computes a sequence of feasible contact combinations; then, a whole-body planner finds the sequence of collision-free humanoid motions that realize them while respecting the physical limitations of the robot. For the challenging problem posed by the first stage, we propose a novel randomized approach that does not require the specification of pre-designed potential contacts or any kind of pre-computation. The control layer produces online torque commands that enable the humanoid to execute the planned motions while guaranteeing closed-loop balance. It relies on two modules, i.e., the stance switching and reactive balancing module; their combined action allows it to withstand possible execution inaccuracies, external disturbances, and modeling uncertainties. Numerical and experimental results obtained on COMAN+, a torque-controlled humanoid robot designed at Istituto Italiano di Tecnologia, validate our framework for loco-manipulation tasks of different complexity.

Multi-contact planning and control for humanoid robots: Design and validation of a complete framework / Ferrari, Paolo; Rossini, Luca; Ruscelli, Francesco; Laurenzi, Arturo; Oriolo, Giuseppe; Tsagarakis, Nikos G.; Mingo Hoffman, Enrico. - In: ROBOTICS AND AUTONOMOUS SYSTEMS. - ISSN 0921-8890. - 166:(2023). [10.1016/j.robot.2023.104448]

Multi-contact planning and control for humanoid robots: Design and validation of a complete framework

Paolo Ferrari;Giuseppe Oriolo;
2023

Abstract

In this paper, we consider the problem of generating appropriate motions for a torque- controlled humanoid robot that is assigned a multi-contact loco-manipulation task, i.e., a task that requires the robot to move within the environment by repeatedly establishing and breaking multiple, non-coplanar contacts. To this end, we present a complete multi-contact planning and control framework for multi-limbed robotic systems, such as humanoids. The planning layer works offline and consists of two sequential modules: first, a stance planner computes a sequence of feasible contact combinations; then, a whole-body planner finds the sequence of collision-free humanoid motions that realize them while respecting the physical limitations of the robot. For the challenging problem posed by the first stage, we propose a novel randomized approach that does not require the specification of pre-designed potential contacts or any kind of pre-computation. The control layer produces online torque commands that enable the humanoid to execute the planned motions while guaranteeing closed-loop balance. It relies on two modules, i.e., the stance switching and reactive balancing module; their combined action allows it to withstand possible execution inaccuracies, external disturbances, and modeling uncertainties. Numerical and experimental results obtained on COMAN+, a torque-controlled humanoid robot designed at Istituto Italiano di Tecnologia, validate our framework for loco-manipulation tasks of different complexity.
2023
multi-contact framework; motion planning; torque-controlled humanoid robots; loco-manipulation
01 Pubblicazione su rivista::01a Articolo in rivista
Multi-contact planning and control for humanoid robots: Design and validation of a complete framework / Ferrari, Paolo; Rossini, Luca; Ruscelli, Francesco; Laurenzi, Arturo; Oriolo, Giuseppe; Tsagarakis, Nikos G.; Mingo Hoffman, Enrico. - In: ROBOTICS AND AUTONOMOUS SYSTEMS. - ISSN 0921-8890. - 166:(2023). [10.1016/j.robot.2023.104448]
File allegati a questo prodotto
File Dimensione Formato  
Ferrari_Multi-contact_2023.pdf

accesso aperto

Tipologia: Versione editoriale (versione pubblicata con il layout dell'editore)
Licenza: Creative commons
Dimensione 3.09 MB
Formato Adobe PDF
3.09 MB Adobe PDF

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1680455
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 3
  • ???jsp.display-item.citation.isi??? 3
social impact