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Classification of Standing States for the Humanoid Robot SJTU-HR1

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Abstract

The humanoid robot platform, SJTU-HR1, is developed to function within the human-centered environment, which means that it is necessary to study the human-robot interaction, robot-robot interaction, robot-environment interaction, and robot self-interaction. To solve the issue of robot-environment interaction and robot self-interaction, this study presents the state classification from the topological point of view for the SJTU-HR1, particularly the standing states. The generalized function set (G F set for short) theory is exploited to achieve the characteristics of the end-effectors of interest of the SJTU-HR1 for each specific standing state, which can provide deeper insight into the capabilities of the SJTU-HR1. One application example is given to show that the proposed methodology can simplify and clarity the complicated state planning issue for humanoid robots. Moreover, the standing states, including robot-environment interaction and robot self-interaction, can be described using the meaningful notations sufficiently. Although we have focused on the application of the G F set theory on the humanoid robot platform SJTU-HR1, this methodology can also be applied to other biped robots and quadruped robots.

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Authors and Affiliations

  1. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Minhang, Shanghai, 200240, People’s Republic of China

    Jialun Yang & Feng Gao

  2. Robotic Research Center, Yanshan University, Qinhuangdao, Hebei, 066004, People’s Republic of China

    Zhenlin Jin

Authors
  1. Jialun Yang
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  2. Feng Gao
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  3. Zhenlin Jin
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Correspondence to Feng Gao.

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Yang, J., Gao, F. & Jin, Z. Classification of Standing States for the Humanoid Robot SJTU-HR1. Int J of Soc Robotics 1, 331–344 (2009). https://doi.org/10.1007/s12369-009-0031-5

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  • DOI: https://doi.org/10.1007/s12369-009-0031-5

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