Model based control of a biped robot
Model based control of a biped robot
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基于模型的双足机器人控制
DOI：
10.1109/amc.2002.1026961
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
Friedrich Pfeiffer
中科院分区：
文献类型：
--
作者：
K. Loffler;M. Gienger;Friedrich Pfeiffer
拟人双足机器人“强尼”的控制方案是基于一个综合的力学模型。为了执行动态稳定的运动，机器人配备了一套全面的传感器，可以确定系统的完整状态。针对实际环境中仍然存在未知参数的情况，提出了一种在大扰动情况下对轨迹进行自适应的方法。映射方案允许在步态模式的所有阶段控制上半身的方向。此外，还实现了对足部扭矩的精密测量和控制。
The control scheme of the anthropomorphic biped robot "Johnnie" is based on a comprehensive mechanical model. In order to perform a dynamically stable motion, the robot is equipped with a comprehensive set of sensors that allow to determine the complete state of the system. Since there are still unknown parameters in a real environment, a method is presented to adapt the trajectories in case of major disturbances. A mapping scheme allows to control the orientation of the upper body throughout all phases of the gait pattern. Furthermore, a sophisticated measurement and control of the foot torques has been implemented.