Survey on model-based biped motion control for humanoid robots
Survey on model-based biped motion control for humanoid robots
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DOI：
10.1080/01691864.2020.1837670
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发表时间：
2020-11
影响因子：
2
通讯作者：
Ko Yamamoto;Takumi Kamioka;T. Sugihara
中科院分区：
文献类型：
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作者：
Ko Yamamoto;Takumi Kamioka;T. Sugihara
摘要本文综述了仿人机器人的站立、行走、跳跃和奔跑等姿态控制的研究。基于模型的方法站在降阶动力学的重点。它首先重新审视质心动力学和零力矩点，这导致了线性倒立摆（LIP）模型和它的一些变化。然后，介绍了基于LIP模型的几种典型的站立和行走控制技术，并讨论了可捕获性的概念。然后考虑质量中心的高度变化。增强跳跃和运行的议案，其中包括空中阶段，也解决了。思想来处理复杂的性质，作为一个混合系统的基础上不连续变化的力学主要是由于接触力的单边约束的简要说明。图形摘要
ABSTRACT Studies of biped control including standing, walking, hopping and running on humanoid robots are reviewed in this survey paper. Model-based approaches standing upon reduced-order dynamics are focused. It begins with revisiting the centroidal dynamics and the zero-moment point, which leads to the linear inverted pendulum (LIP) model and some of its variations. Then, some representative standing and walking control techniques based on the LIP model are reviewed, where the concept of capturability is also discussed. It is followed by consideration of height variation of the center of mass. Enhancement to hopping and running motions, which include aerial phases, is also addressed. Ideas to deal with complex nature as a hybrid system underlying discontinuously varying mechanics mainly due to unilateral constraints on contact forces are concisely explained. GRAPHICAL ABSTRACT