Exploiting Task Intervals for Whole Body Robot Control
Exploiting Task Intervals for Whole Body Robot Control
复制标题
利用任务间隔进行全身机器人控制
DOI：
10.1109/iros.2006.281693
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
C. Goerick
中科院分区：
文献类型：
--
作者：
M. Gienger;H. Janssen;C. Goerick
本文提出了一种全身运动算法，并展示了其在复杂场景中的可行性的一些步骤。我们采用Liegeois（1977）的框架，该框架在速度水平上解决冗余逆运动学问题。为了使控制器适用于各种不同的应用，提出了相对效应器位置的任务描述符以及一维和二维姿态表示。逆运动学的扩展，允许“位移间隔”，制定在任务空间。所提出的控制方案保证了效应器的运动位于指定的间隔。然而，区间内的运动是由优化标准确定的，这可以有效地用于生成更灵活和鲁棒的运动。我们讨论了一个例子，并展示了人形机器人ASIMO的仿真和实验结果
This paper presents a whole body motion algorithm and shows some steps towards its feasibility in complex scenarios. We employ the framework of Liegeois, (1977) which solves the redundant inverse kinematics problem on velocity level. To make the controller suitable for a variety of different applications, task descriptors for the relative effector positions as well as a one-and two-dimensional attitude representation are proposed. The inverse kinematics are extended by allowing for "displacement intervals" which are formulated in task space. The proposed control scheme guarantees that the effector motion lies within the specified interval. However, the motion inside the interval is determined by optimization criteria, which can effectively be utilized to generate a more flexible and robust motion. We discuss an example and show simulation and experimental results on the humanoid robot ASIMO