Fast and Reliable Stand-Up Motions for Humanoid Robots Using Spline Interpolation and Parameter Optimization

摘要

Reliability and robustness to external influences are important characteristics for using humanoid robots outside of laboratory conditions. This paper proposes a closed-loop system to let the robots recover from falling over using stand-up motion trajectories based on quintic spline interpolation. By applying IMU-based PD controllers, faster and more reliable motions can be executed. The paper also explores the usage of parameter optimization methods, which can find suitable parameter sets quickly and are able to find solutions that are unlikely to be discovered via manual search.