Hybrid position/force control for biped robot stabilization with integrated center of mass dynamics
Hybrid position/force control for biped robot stabilization with integrated center of mass dynamics
复制标题
具有集成质心动力学的双足机器人稳定性混合位置/力控制
DOI：
10.1109/humanoids.2017.8246955
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
D. Rixen
中科院分区：
文献类型：
--
作者：
Felix Sygulla;Robert Wittmann;Philipp Seiwald;Arne;Daniel Wahrmann;D. Rixen
穿越地面高度发生意外变化的不平坦地形仍然是人形机器人行走稳定性的主要挑战。在这种情况下，一种常见的平衡方法是控制脚下的地面反作用力。然而，在现有的解决方案中没有考虑这种直接力控制方案的质心的动态。在这项工作中，我们提出了一种力控制方法，实现接触力加速的质心，这是直接集成到我们的混合位置/力控制方案。为此，我们首先介绍了一个任务空间中的接触模型的分析公式。我们评估我们的方法在模拟和现实世界的实验与我们的人形机器人LOLA的性能。质心动力学的积分显示，对于地面高度变化5.5厘米的后期接触实验，上身倾斜角大大减小。我们发现，通过在力控制器中使用系统的质心动力学，可以有效地补偿沿欠驱动自由度的不期望的运动沿着。我们认为，我们的方法的起点，更复杂的直接力控制概念的人形机器人的发展。
Traversing uneven terrain with unexpected changes in ground height still poses a major challenge to walking stabilization of humanoid robots. A common approach to balance a biped in such situations is the control of the ground reaction forces at the feet. However, the dynamics of the center of mass is not considered in existing solutions for this direct force control scheme. In this work, we present a force control method to realize contact forces by accelerating the center of mass, which is directly integrated into our hybrid position/force control scheme. For this, we first introduce an analytical formulation for a contact model in task-space. We evaluate the performance of our approach in simulation and real-world experiments with our humanoid robot LOLA. The integration of center of mass dynamics shows great reduction of upper-body inclination angles for a late contact experiment with 5.5 cm change in ground height. We found that by using the system's center of mass dynamics in the force controller, undesired movements along the under-actuated degrees of freedom can be compensated effectively. We consider our approach a starting point for the development of more sophisticated direct force control concepts for humanoid robots.
双足快速行走实验
DOI：
10.1109/icmech.2011.5971235
发表时间：
2011
期刊：
2011 IEEE International Conference on Mechatronics
影响因子：
--
作者：
T. Buschmann u. a.
通讯作者：
T. Buschmann u. a.