Contact consistent control framework for humanoid robots
Contact consistent control framework for humanoid robots
复制标题
人形机器人接触一致控制框架
DOI：
10.1109/robot.2006.1641993
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
O. Khatib
中科院分区：
文献类型：
--
作者：
Jaeheung Park;O. Khatib
本文提出了一个拟人系统的动力学制定和控制的框架。在这个框架中，未驱动的虚拟关节被用来描述人形的配置相对于惯性系。系统的动力学，然后制定在一般的方式，认为任意接触的环境。一个控制结构实现的运动和接触力，占欠致动由于虚拟关节。还实施了一种策略来解决不同接触状态之间的转换。仿真结果表明，这一整体框架的许多行为，如站立，行走，跳跃，手操纵与步行
This paper presents a framework for the dynamical formulation and control of humanoid systems. In this framework unactuated virtual joints are used to describe the humanoid's configuration with respect to the inertial frame. The dynamics of the system are then formulated in a general manner that considers arbitrary contact with the environment. A control structure is implemented for both motion and contact forces that accounts for under-actuation due to the virtual joints. A strategy is also implemented to address transitions between different contact states. Simulation results are presented that demonstrate this overall framework for many behaviors such as standing, walking, jumping, and hand manipulation with walking