Task space control with prioritization for balance and locomotion
Task space control with prioritization for balance and locomotion
复制标题
任务空间控制，优先考虑平衡和运动
DOI：
10.1109/iros.2007.4399595
复制
发表时间：
2007
期刊：
影响因子：
--
通讯作者：
S. Schaal
中科院分区：
文献类型：
--
作者：
M. Mistry;J. Nakanishi;G. Cheng;S. Schaal
本文讨论了运动与主动平衡，通过任务空间控制与优先级。重心（COG）和摆动腿的脚被视为任务空间控制点。采用具有约束的浮动基座逆运动学，从而允许适合于运动的移动的平台。不同的技术任务优先级进行了讨论，我们澄清以前建议的工作的差异和相似之处。不同的优先级控制检查，重点奇异鲁棒性和约束切换的负面影响。一种新的控制器的平衡和运动的任务空间控制的开发，试图解决奇异鲁棒性，同时最大限度地减少约束切换所产生的不连续性。使用四足机器人模拟器从事运动任务的控制器进行评估。
This paper addresses locomotion with active balancing, via task space control with prioritization. The center of gravity (COG) and foot of the swing leg are treated as task space control points. Floating base inverse kinematics with constraints is employed, thereby allowing for a mobile platform suitable for locomotion. Different techniques of task prioritization are discussed and we clarify differences and similarities of previous suggested work. Varying levels of prioritization for control are examined with emphasis on singularity robustness and the negative effects of constraint switching. A novel controller for task space control of balance and locomotion is developed which attempts to address singularity robustness, while minimizing discontinuities created by constraint switching. Controllers are evaluated using a quadruped robot simulator engaging in a locomotion task.