Synthesis of a Walking Primitive Database for a Humanoid Robot using Optimal Control Techniques
Synthesis of a Walking Primitive Database for a Humanoid Robot using Optimal Control Techniques
复制标题
使用最优控制技术合成人形机器人行走原始数据库
DOI：
--
复制
发表时间：
2001
期刊：
影响因子：
--
通讯作者：
G. Schmidt
中科院分区：
文献类型：
--
作者：
J. Denk;G. Schmidt
本文提出了一种通用的方法来生成拟人的三维两足动物的步行基元。相应的控制力矩，允许直线前进行走与预摆动，摆动，脚跟接触，来自动态优化使用直接配置方法。所计算的扭矩使基于能量的混合性能指数最小化。零力矩点（ZMP）和摩擦条件的脚，确保姿势稳定的机器人，以及关节角度和控制扭矩的界限，被视为约束。该方法被应用到具有12个关节的机器人的模型，用于开发步行基元数据库的目的，该数据库允许直线向前步行，并具有与情况相关的步长自适应。由此产生的仿生运动是动态稳定的，整体运动行为非常接近人类。
This paper presents a general method for generating walking primitives for anthropomorphic 3D–bipeds. Corresponding control torques allowing straight ahead walking with pre–swing, swing, and heel–contact are derived by dynamic optimization using a direct collocation approach. The computed torques minimize an energy based, mixed performance index. Zero moment point (ZMP) and friction conditions at the feet ensuring postural stability of the biped, as well as bounds on the joint angles and on the control torques, are treated as constraints. The method is applied to the model of a biped with 12 joints for the purpose of developing a walking primitive database allowing straight ahead walking with situation dependent step–length adaptation. The resulting biped motions are dynamically stable and the overall motion behaviour is remarkably close to that of humans.