Ball walker: A case study of humanoid robot locomotion in non-stationary environments
Ball walker: A case study of humanoid robot locomotion in non-stationary environments
复制标题
球步行者：非静止环境中人形机器人运动的案例研究
DOI：
10.1109/icra.2011.5979806
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
K. Yamane
中科院分区：
文献类型：
--
作者：
Yu Zheng;K. Yamane
提出了一种双足机器人在滚动球上保持平衡行走的控制框架。控制框架由两个主要组件组成：平衡控制器和步幅规划器。平衡控制器负责整个系统的平衡，并结合极点配置设计的状态反馈控制器和观测器来估计系统的当前状态。在控制器设计中，采用轮式线性倒立摆作为机器人的简化模型。以平衡控制器的输出，即双足机器人在球上的理想压力中心作为输入，计算机器人的脚位，以跟踪理想压力中心，避免从滚动的球上掉下来。仿真结果表明，该控制器能使两足机器人在不同大小的球上稳定行走，并能以期望的速度将球旋转到期望的位置。
This paper presents a control framework for a biped robot to maintain balance and walk on a rolling ball. The control framework consists of two primary components: a balance controller and a footstep planner. The balance controller is responsible for the balance of the whole system and combines a state-feedback controller designed by pole assignment with an observer to estimate the system's current state. A wheeled linear inverted pendulum is used as a simplified model of the robot in the controller design. Taking the output of the balance controller, namely the ideal center of pressure of the biped robot on the ball, as the input, the footstep planner computes the foot placements for the robot to track the ideal center of pressure and avoid a fall from the rolling ball. Simulation results show that the proposed controller can enable a biped robot to stably walk on balls of different sizes and rotate a ball to desired positions at desired speeds.