Humanoid locomotion on uneven terrain using the time-varying divergent component of motion
Humanoid locomotion on uneven terrain using the time-varying divergent component of motion
复制标题
使用时变运动发散分量在不平坦地形上进行人形运动
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
A. Leonessa
中科院分区：
文献类型：
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作者：
Michael A. Hopkins;D. Hong;A. Leonessa
本文提出了一个框架，动态人形运动不平坦的地形使用一种新的时变扩展的发散运动分量（DCM）。通过改变DCM的固有频率，我们能够在步进期间实现通用的CoM高度轨迹。所提出的规划算法计算容许DCM参考轨迹给定所需的ZMP计划单，双支持。这是通过在有限的时间范围内使用离散DCM动态的逆时间积分来完成的。为了考虑重新规划期间的不连续性，在短预览窗口上实现线性模型预测控制（MPC）。DCM的跟踪控制是使用时变比例积分控制器的基础上的虚拟排斥点（VRP）。结合的方法的有效性进行了验证仿真使用30自由度模型的THOR，一个符合扭矩控制的人形。
This paper presents a framework for dynamic humanoid locomotion on uneven terrain using a novel time-varying extension to the Divergent Component of Motion (DCM). By varying the natural frequency of the DCM, we are able to achieve generic CoM height trajectories during stepping. The proposed planning algorithm computes admissible DCM reference trajectories given desired ZMP plans for single and double support. This is accomplished using reverse-time integration of the discretized DCM dynamics over a finite time horizon. To account for discontinuities during replanning, linear Model Predictive Control (MPC) is implemented over a short preview window. DCM tracking control is achieved using a time-varying proportional-integral controller based on the Virtual Repellent Point (VRP). The effectiveness of the combined approach is verified in simulation using a 30-DoF model of THOR, a compliant torque-controlled humanoid.