Goal-Oriented Simulation-Based Motion Interpolator for Complex Contact Transition: Experiments on Knee-Contact Behavior

It is in process to build robust robotics system enabling whole-body multi-contact motion. In this paper, we have experiments on knee-contact motions to preliminary investigate motion planning algorithm to generate whole-body multi-contact behavior. Our motion interpolator is goal-oriented in that the interpolator does not specify detailed contact constraints such as fixed contact point on link, friction cone constraints and timing of contact switching. The goal-oriented feature enables to generate complex contact transition including sliding, rotating and dynamic contact transition. The interpolator generates whole-body trajectory to achieve goal state considering physical feasibility such as whole-body dynamics, collision, and joint torque limitations by using dynamics simulator. Further, the generated knee-contact motions are achieved by actual humanoid robot RHP4B to check difference between simulated motion and actual result.