Whole-Body Active Compliance Control for Humanoid Robots with Robot Skin
Whole-Body Active Compliance Control for Humanoid Robots with Robot Skin
复制标题
带有机器人皮肤的仿人机器人的全身主动柔顺控制
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
G. Cheng
中科院分区：
文献类型：
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作者：
E. Dean;J. R. Guadarrama;Florian Bergner;G. Cheng
拟人机器人预计将在人类环境中进行交互，其中物理交互是不可避免的。因此，需要包括多触点相互作用的全身控制方法。触摸传感中的新兴技术是获取有关这些与环境的物理交互的在线和丰富信息的基础。这些技术导致新的控制系统的设计，可以从触觉传感器的信息中获益，在一个有效的形式，从而产生反应和顺应机器人能够与他们的环境进行交互。在本文中，我们提出了一种新的控制框架，将多模态触觉信息的机器人皮肤与不同的控制策略，产生适合于人机交互（HRI）的动态行为。控制框架进行了实验评估的全尺寸的人形机器人覆盖超过1260皮肤细胞分布在整个机器人的身体。结果表明，多模态触觉信息可以与多个控制策略分层融合，在位置控制的刚性人形机器人产生主动顺应。
Humanoid robots are expected to interact in human environments, where physical interactions are unavoidable. Therefore, whole-body control methods that include multi-contact interactions are required. The new emerging technologies in touch sensing are fundamental to acquire online and rich information about these physical interactions with the environment. These technologies lead to the design of novel control systems that can profit from the tactile sensor information in an efficient form, thus producing reactive and compliant robots capable of interacting with their environment. In this paper, we present a novel control framework to integrate the multi-modal tactile information of a robot skin with different control strategies, producing dynamic behaviours suitable for Human-Robot Interactions (HRI). The control framework was experimentally evaluated on a full-size humanoid robot covered with more than 1260 skin cells distributed in the whole robot body. The results show that multi-modal tactile information can be fused hierarchically with multiple control strategies, producing active compliance in a position-controlled stiff humanoid robot.