Centroidal Trajectory Generation and Stabilization Based on Preview Control for Humanoid Multi-Contact Motion
Centroidal Trajectory Generation and Stabilization Based on Preview Control for Humanoid Multi-Contact Motion
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DOI：
10.1109/lra.2022.3186515
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发表时间：
2022-07-01
影响因子：
5.2
通讯作者：
Kanehiro, Fumio
中科院分区：
文献类型：
--
作者：
Murooka, Masaki;Morisawa, Mitsuharu;Kanehiro, Fumio
多接触运动对于人形机器人在各种环境中工作非常重要。提出了一种仿人动态多接触运动的质心在线轨迹生成与镇定控制方法。所提出的方法的特点是使用预见控制，而不是传统的模型预测控制，考虑所有的采样时间的约束，大大减少了计算成本。通过结合预见控制与质心状态反馈的鲁棒性干扰和扳手分布满足接触约束，我们表明，机器人可以稳定地执行各种多接触运动，通过仿真实验。
Multi-contact motion is important for humanoid robots to work in various environments. We propose a centroidal online trajectory generation and stabilization control for humanoid dynamic multi-contact motion. The proposed method features the drastic reduction of the computational cost by using preview control instead of the conventional model predictive control that considers the constraints of all sample times. By combining preview control with centroidal state feedback for robustness to disturbances and wrench distribution for satisfying contact constraints, we show that the robot can stably perform a variety of multi-contact motions through simulation experiments.