Introduction to Humanoid Robotics.pdf

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Foreword

Preface to English Edition

Preface to the Original JapaneseEdition

Contents

Introduction

Kinematics

2.1 Coordinate Transformations

2.1.1 World Coordinates

2.1.2 Local Coordinates and Homogeneous Transformations

2.1.3 Local Coordinate Systems Local to Local Coordinate Systems

2.1.4 Homogeneous Transformations and Chain Rules

2.2 Characteristics of Rotational Motion

2.2.1 Roll, Pitch and Yaw Notation

2.2.2 The Meaning of Rotation Matrices

2.2.3 Calculating the Inverse of a Rotation Matrix

2.2.4 Angular Velocity Vector

2.2.5 Differentiation of the Rotation Matrix and Angular Velocity Vectors

2.2.6 Integration of the Angular Velocity Vector and Matrix Exponential

2.2.7 Matrix Logarithm

2.3 Velocity in Three Dimensional Space

2.3.1 The Linear and Angular Velocity of a Single Object

2.3.2 The Linear and Angular Velocity of Two Objects

2.4 Robot Data Structure and Programming

2.4.1 Data Structure

2.4.2 Programming with Recursions

2.5 Kinematics of a Humanoid Robot

2.5.1 Creating the Model

2.5.2 Forward Kinematics: Calculating the Position of the Links from Joint Angles

2.5.3 Inverse Kinematics: Calculating the Joint Angles from a Link's Position and Attitude

2.5.4 Numerical Solution to Inverse Kinematics

2.5.5 Jacobian

2.5.6 Jacobian and the Joint Velocity

2.5.7 Singular Postures

2.5.8 Inverse Kinematics with Singularity Robustness

2.5.9 Appendix: Supplementary Functions

ZMP and Dynamics

3.1 ZMP and Ground Reaction Forces

3.1.1 ZMP Overview

3.1.2 2D Analysis

3.1.3 3D Analysis

3.2 Measurement of ZMP

3.2.1 General Discussion

3.2.2 ZMP of Each Foot

3.2.3 ZMP for Both Feet Contact

3.3 Dynamics of Humanoid Robots

3.3.1 Humanoid Robot Motion and Ground Reaction Force

3.3.2 Momentum

3.3.3 Angular Momentum

3.3.4 Angular Momentum and Inertia Tensor of Rigid Body

3.3.5 Calculation of Robot's Center of Mass

3.5.6 Calculation of Link Speed and Angular Velocity

3.5.7 Calculation of Robot's Momentum

3.3.8 Calculation of Robot's Angular Momentum

3.4 Calculation of ZMP from Robot's Motion

3.4.1 Derivation of ZMP

3.4.2 Calculation of ZMP Using Approximation

3.5 Some Notes for ZMP

3.5.1 Two Explanations

3.5.2 Does ZMP Exist Outside the Support Polygon due to the Acceleration of the Center of Mass?

3.5.3 Limitation of ZMP

3.6 Appendix: Convex Set and Convex Hull

Biped Walking

4.1 How to Realize Biped Walking?

4.2 Two Dimensional Walking Pattern Generation

4.2.1 Two Dimensional Inverted Pendulum

4.2.2 Behavior of Linear Inverted Pendulum

4.2.3 Orbital Energy

4.2.4 Support Leg Exchange

4.2.5 Planning a Simple Biped Gait

4.2.6 Extension to a Walk on Uneven Terrain

4.3 3D Walking Pattern Generation

4.3.1 3D Linear Inverted Pendulum

4.3.2 Natures of the 3D Linear Inverted Pendulum

4.3.3 3D Walking Pattern Generation

4.3.4 Introducing Double Support Phase

4.3.5 From Linear Inverted Pendulum to Multi-body Model

4.3.6 Implementation Example

4.4 ZMP Based Walking Pattern Generation

4.4.1 Cart-Table Model

4.4.2 Off-Line Walking Pattern Generation

4.4.3 On-Line Walking Pattern Generation

4.4.4 Dynamics Filter Based on Preview Control

4.4.5 Advanced Pattern Generators

4.5 Stabilizer

4.5.1 Principles of Stabilizing Control

4.5.2 Stabilizing Control of Honda Humanoid Robot

4.5.3 Advanced Stabilizers

4.6 Pioneers of Dynamic Biped Walking Technology

4.7 Additional Methods for Biped Control

4.7.1 Passive Dynamic Walk

4.7.2 Nonlinear Oscillator and Central Pattern Generators

4.7.3 Learning and Evolutionary Computing

Generation of Whole Body Motion Patterns

5.1 How to Generate Whole Body Motion

5.2 Generating Rough Whole Body Motion

5.2.1 Using Motion Capture

5.2.2 Using a Graphical User Interface

5.2.3 Using High Speed Multivariate Search Methods

5.3 Converting Whole Body Motion Patterns to Dynamically Stable Motion

5.3.1 Dynamics Filter

5.3.2 Auto Balancer

5.3.3 Strict Trunk Motion Computation Algorithm

5.4 Remote Operation of Humanoid Robots with Whole Body Motion Generation

5.4.1 Remote Generation of Whole Body Motion Using the Operation Point Switching Method

5.4.2 Full Body Motion Generation of Stable Motion Using Split Momentum Control

5.4.3 Application and Experiments with the Humanoid Robot HRP-2

5.5 Reducing the Impact of a Humanoid Robot Falling Backwards

5.6 Making a Humanoid Robot Get Up Again

Dynamic Simulation

6.1 Dynamics of Rotating Rigid Body

6.1.1 Euler's Equation of Motion

6.1.2 Simulation of Rigid Body Rotation

6.2 Spatial Velocity

6.2.1 Speed of Rigid Body

6.2.2 Integration of Spatial Velocity

6.3 Dynamics of Rigid Body

6.3.1 Newton-Euler Equations

6.3.2 Dynamics by Spatial Velocity

6.3.3 Rigid Body Simulation Based on Spatial Velocity

6.3.4 Simulation of a Spinning Top

6.4 Dynamics of Link System

6.4.1 Forward Kinematics with Acceleration

6.4.2 Inverse Dynamics of Link System

6.4.3 Forward Dynamics of Link System

6.4.4 Featherstone's Method

6.5 Background Material for This Section

6.6 Appendix

6.6.1 Treatment of Force and Moment

6.6.2 Subroutines

References

Index

Springer Tracts in Advanced Robotics 101 Shuuji Kajita · Hirohisa Hirukawa Kensuke Harada · Kazuhito Yokoi Introduction to Humanoid Robotics

Springer Tracts in Advanced Robotics 101 Editors Prof. Bruno Siciliano Dipartimento di Ingegneria Elettrica e Tecnologie dell’Informazione Università degli Studi di Napoli Federico II Via Claudio 21, 80125 Napoli Italy E-mail: siciliano@unina.it Prof. Oussama Khatib Artiﬁcial Intelligence Laboratory Department of Computer Science Stanford University Stanford, CA 94305-9010 USA E-mail: khatib@cs.stanford.edu For further volumes: http://www.springer.com/series/5208

Editorial Advisory Board Oliver Brock, TU Berlin, Germany Herman Bruyninckx, KU Leuven, Belgium Raja Chatila, ISIR - UPMC & CNRS, France Henrik Christensen, Georgia Tech, USA Peter Corke, Queensland Univ. Technology, Australia Paolo Dario, Scuola S. Anna Pisa, Italy Rüdiger Dillmann, Univ. Karlsruhe, Germany Ken Goldberg, UC Berkeley, USA John Hollerbach, Univ. Utah, USA Makoto Kaneko, Osaka Univ., Japan Lydia Kavraki, Rice Univ., USA Vijay Kumar, Univ. Pennsylvania, USA Sukhan Lee, Sungkyunkwan Univ., Korea Frank Park, Seoul National Univ., Korea Tim Salcudean, Univ. British Columbia, Canada Roland Siegwart, ETH Zurich, Switzerland Gaurav Sukhatme, Univ. Southern California, USA Sebastian Thrun, Stanford Univ., USA Yangsheng Xu, Chinese Univ. Hong Kong, PRC Shin’ichi Yuta, Tsukuba Univ., Japan STAR (Springer Tracts in Advanced Robotics) has been promoted under the auspices of EURON (European Robotics Research Network) European Research Network ROBOTICS ** * * * * * * * * * * N O R U E

Shuuji Kajita · Hirohisa Hirukawa Kensuke Harada · Kazuhito Yokoi Introduction to Humanoid Robotics A B C

Shuuji Kajita National Institute of Advanced Kensuke Harada National Institute of Advanced Industrial Science & Technology (AIST) Industrial Science & Technology (AIST) Intelligent Systems Research Intelligent Systems Research Institute Humanoid Research Group Institute Humanoid Research Group Tsukuba Central 2 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568 Japan E-mail: s.kajita@aist.go.jp Tsukuba Central 2 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568 Japan E-mail: kensuke.harada@aist.go.jp Hirohisa Hirukawa National Institute of Advanced Kazuhito Yokoi National Institute of Advanced Industrial Science & Technology (AIST) Industrial Science & Technology (AIST) Intelligent Systems Research Intelligent Systems Research Institute Humanoid Research Group Institute Humanoid Research Group Tsukuba Central 2 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568 Japan E-mail: hiro.hirukawa@aist.go.jp Tsukuba Central 2 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568 Japan E-mail: kazuhito.yokoi@aist.go.jp ISSN 1610-7438 ISBN 978-3-642-54535-1 DOI 10.1007/978-3-642-54536-8 Springer Heidelberg New York Dordrecht London ISSN 1610-742X (electronic) ISBN 978-3-642-54536-8 (eBook) Library of Congress Control Number: 2014932049 Translation from the Japanese language edition: Humanoid Robot by Shuji Kajita c Published by Ohmsha, Ltd 2005. All rights reserved c Springer-Verlag Berlin Heidelberg 2014 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, speciﬁcally the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microﬁlms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. Exempted from this legal reservation are brief excerpts in connection with reviews or scholarly analysis or material supplied speciﬁcally for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Duplication of this publication or parts thereof is permitted only under the provisions of the Copyright Law of the Publisher’s location, in its current version, and permission for use must always be obtained from Springer. Permissions for use may be obtained through RightsLink at the Copyright Clearance Center. Violations are liable to prosecution under the respective Copyright Law. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a speciﬁc statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. While the advice and information in this book are believed to be true and accurate at the date of pub- lication, neither the authors nor the editors nor the publisher can accept any legal responsibility for any errors or omissions that may be made. The publisher makes no warranty, express or implied, with respect to the material contained herein. Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)

Foreword Robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into human environments and vigorously engaged in its new challenges. Interacting with, assisting, serving, and exploring with humans, the emerging robots will in- creasingly touch people and their lives. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientiﬁc disciplines, such as: biomechanics, haptics, neu- rosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abun- dant source of stimulation and insights for the ﬁeld of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The Springer Tracts in Advanced Robotics (STAR) is devoted to bringing to the research community the latest advances in the robotics ﬁeld on the basis of their signiﬁcance and quality. Through a wide and timely dissemination of critical research developments in robotics, our objective with this series is to promote more exchanges and collaborations among the researchers in the com- munity and contribute to further advancements in this rapidly growing ﬁeld. The book Introduction to Humanoid Robotics by Shuuji Kajita, Hirohisa Hirukawa, Kensuke Harada and Kazuhito Yokoi is an enriched English trans- lation of a former book in Japanese. The six-chapter collection oﬀers a com- plete treat on the fundamental methodologies and technologies of humanoid robotics; namely, kinematics, dynamics, biped walking, motion generation and simulation. Even though the contents are focused on the achievements of a huge research eﬀort on the Humanoid Robotics Project undertaken at the Advanced Institute of Science and Technology in Tsukuba, the material is of wide interest for virtually any scholar wishing to pursue work in this fascinating ﬁeld. The ﬁrst contribution to the series on humanoid robots, this volume con- stitutes a very ﬁne addition to STAR! Naples, Italy November 2013 Bruno Siciliano STAR Editor

Preface to English Edition This book is based on our Japanese text book simply titled “Humanoid robots.” We wrote the book because we wanted to compile basic knowledge of analysis and control of humanoid robots in a compact form just for our small group. It was our surprise and pleasure to learn that the book was also useful for other people, mostly those who wanted to start research in the ﬁeld of humanoid robotics. Translations in Chinese, German and French have already been published. For the Chinese translation, we express our appre- ciation to Professor Yisheng Guan at Guangdong University of Technology. For the French translation, we wish to show our appreciation to Professor Sophie Sakka at Ecole Centrale de Nantes. Finally, we can release the English version with great help from Mr. Hajime Saito from the Kawada Robotics Corporation and Professor Bill Goodwine at the University of Notre Dame. Although the original book was written nine years ago, we believe the basic outline of this book is still useful. To include recent results from our group and others, we have added new sections to Chapters 1, 2 and 4. A realistic humanoid robot is intriguing to many people no matter their culture, for it has long been a dream of all people. The challenge to cre- ate a life-mimicking machine had started thousands of years ago. Although, we see impressive development now, I never think scientists are close to the goal. All robotics researchers must sigh over their incompetence looking at the exquisite mechanism, ourselves. Therefore, we are in the middle of a long journey. May the journey leads us a prosperous, pleasant and exciting future! September 2013 On behalf of authors, Shuuji Kajita

Preface to the Original Japanese Edition Recent humanoid robots which appear in televisions and exhibitions can walk and perform impressive dances as if they have actors inside. Many people might say, “Wow, its wonderful! But how can they do that?” The primary goal of this book is to answer such questions. The theories and technologies introduced in this book are actually used to control our humanoid robot, HRP-2. Similar technologies are also used for other famous humanoid robots like Honda’s ASIMO and Sony’s QRIO. If you quickly browse through this text, you will ﬁnd this book is not easy to read. Indeed, it is full of equations and other math, which may prove to be a lethal dose to those with allergic reactions to mathematics. To soften such an insipid impression and to aid the reader in interpreting and understanding the equations we put pictures and drawings whenever possible. However we want to emphasis that those are like music scores composed by the words of mathematics and physics, which are indispensable to enable such impressive humanoid robot technology. We also expect that many readers interested in humanoid robots may come to recognize the importance and indispensable role of science and technology which truly supports our modern society. The ﬁrst chapter was written by Hirohisa Hirukawa, the leader of the Hu- manoid Robotics research Group (HRG) in the Intelligent Systems Research Institute (ISRI) of AIST (National Institute of Advanced Industrial Science and Technology). Chapter 3 is written by Kensuke Harada and Shuuji Ka- jita in HRG. Chapter 5 was written by Kazuhito Yokoi, the leader of the Autonomous Behavior Control Research Group in ISRI. Chapter 2, 4 and 6 were written by Shuuji Kajita. We could not publish this book without help of many other people. First of all, we express our thanks to Tadahiro Kawada, Takakatsu Isozumi and other excellent engineers of Kawada Industries, Inc. who have designed and built marvelous hardware, including the humanoid robot HRP-2. We also would like to thank to Token Okano and Yuichiro Kawasumi of General Robotix, Inc. (GRX) who help us everyday by maintaining our robots. We thank to Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara, Hajime Saito and

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