Experimental evaluation of a trajectory/force tracking controller for a humanoid robot cleaning a vertical surface
Experimental evaluation of a trajectory/force tracking controller for a humanoid robot cleaning a vertical surface
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用于清洁垂直表面的仿人机器人轨迹/力跟踪控制器的实验评估
DOI：
10.1109/iros.2011.6094615
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
D. Nenchev
中科院分区：
文献类型：
--
作者：
F. Sato;T. Nishii;Jun Takahashi;Yuki Yoshida;M. Mitsuhashi;D. Nenchev
研究了在站立式人形机器人的帮助下清洁垂直平面的任务。介绍了一种在位置/力矩混合控制模式下实现的轨迹/力跟踪控制器。手臂关节采用位置控制的传统PD控制器控制，踝关节采用扭矩控制。所需的力是通过一个力跟踪控制器实现的，该控制器使用从脚上的压力传感器获得的CoM和ZMP位置读数。在微型人形机器人HOAP-2上实现了轨迹/力跟踪控制器，并对其进行了实验评估。
The task of cleaning a vertical flat surface with the help of a standing humanoid robot is considered. A trajectory/force tracking controller is introduced that is implemented under a mixed position/torque control mode. The arm joints are controlled with a conventional PD controller working under position control, while the ankle joints are torque controlled. The desired force is realized via a force tracking controller using CoM and ZMP position readings obtained from the pressure sensors in the feet. The trajectory/force tracking controller is implemented and experimentally evaluated with a miniature humanoid robot HOAP-2.