Analysis of the state transition for a humanoid robot SJTU-HR1 from sitting to standing

摘要

Rising up to a standing state from a sitting state is one of the most important human activities of daily life. It is of equal importance for the humanoid robot. This paper presents the concept of humanoid robot SJTU-HR1, researches on the characteristics of sitting and standing states using the generalized function (G <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">F</sub> ) set, and gets the interested end-effectors (EEs). Then the work focuses on the analysis of the transition from sitting to standing state. Moreover, we abstract some paths according to contact points to decrease the applied force. Finally, we select a path from sitting to standing up, analyze its kinematics characteristics of the EEs, and establish a simulation to this process to testify the merits of the optimal paths selected.