YAW MOMENT COMPENSATION FOR BIPEDAL ROBOTS VIA INTRINSIC ANGULAR MOMENTUM CONSTRAINT
YAW MOMENT COMPENSATION FOR BIPEDAL ROBOTS VIA INTRINSIC ANGULAR MOMENTUM CONSTRAINT
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DOI：
10.1142/s0219843612500338
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发表时间：
2012-12-01
影响因子：
1.5
通讯作者：
Caldwell, Darwin G.
中科院分区：
文献类型：
--
作者：
Ugurlu, Barkan;Saglia, Jody A.;Caldwell, Darwin G.
本文旨在描述一种技术来补偿不必要的偏航力矩，这是不可避免地引起的支持脚在单支撑阶段，而双足机器人在运动中。该方法的主要策略是旋转上半身，以施加抵消产生不期望力矩的因素的二次力矩。为了通过考虑所有因素来计算偏航力矩，我们使用了欧拉ZMP分辨率，因为它能够表征机器人的转动惯量，这是其动力学的关键组成部分。在这样做时，内禀角动量率的变化被平滑地包含在偏航力矩方程中。应用所提出的技术，我们进行了几个双足步行实验，使用实际的双足机器人CoMan。其结果是，我们得到了61%的不需要的偏航力矩和82%的偏航轴偏差，这令人满意地验证了所提出的方法的效率，在现成的技术相比，减少。
This paper is aimed at describing a technique to compensate undesired yaw moment, which is inevitably induced about the support foot during single support phases while a bipedal robot is in motion. The main strategy in this method is to rotate the upper body in a way to exert a secondary moment that counteracts to the factors which create the undesired moment. In order to compute the yaw moment by considering all the factors, we utilized Eulerian ZMP Resolution, as it is capable of characterizing the robot's rotational inertia, a crucial component of its dynamics. In doing so, intrinsic angular momentum rate changes are smoothly included in yaw moment equations. Applying the proposed technique, we conducted several bipedal walking experiments using the actual bipedal robot CoMan. As the result, we obtained 61% decrease in undesired yaw moment and 82% regulation in yaw-axis deviation, which satisfactorily verify the efficiency of the proposed approach, in comparison to off-the-shelf techniques.