Dynamics based motion optimization and operational space control with an experimental rescue robot, HUBO T-100

摘要

This paper introduces an experimental rescue robot, HUBO T-100 for a development of a Korean rescue robot with a large load carrying capacity and presents its optimal motion control methods. The mission of the rescue robot is to move and lift patients or soldiers with impaired mobility for the rescue and assistance in the battlefields, hospitals, hazardous and disastrous environments. Another mission includes to dispose and transfer a dangerous object or explosive ordnance. In order to execute these kind of missions, coordinated whole body motions need to be synthesized. We are to make use of a dynamics based motion optimization in the joint space to lift a object with the minimum joint torques while maintaining stability simultaneously. Complex tasks are planned in the operational space and controlled in the multi level hierarchy based on a task primitive priority. Experimental results are to be demonstrated, both in simulations and physical experiments with a humanoid robot, HUBO T-100.