Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios
Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios
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DOI：
10.1177/0278364916653815
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发表时间：
2016-10-01
影响因子：
9.2
通讯作者：
Ott, Christian
中科院分区：
文献类型：
--
作者：
Henze, Bernd;Roa, Maximo A.;Ott, Christian
这项工作提出了一种用于扭矩控制人形机器人的多接触平衡的新控制方法。该控制器包括一个非严格的任务层次结构，它允许机器人使用其末端执行器的子集进行平衡，而其余的则可用于与环境交互。控制器创建被动且顺从的行为，用于调节分配给交互任务的每个末端执行器的质心 (CoM) 位置、髋部方向和姿势。这是通过在用于交互的每个末端执行器上应用合适的扳手（力和扭矩）来实现的。选择平衡末端执行器处的接触扳手，使得平衡扳手和交互扳手的总和在 CoM 处产生所需的扳手。该算法需要解决一个优化问题，该问题将 CoM 扳手分配给末端执行器，同时考虑单侧性、摩擦力和压力中心位置的约束。此外，反馈控制器与前馈控制相结合，以便在跟踪预定义轨迹的同时提高性能，从而形成类似于 PD+ 控制的控制结构。该控制器通过人形机器人 TORO 的多次实验进行了评估。
This work presents a new control approach to multi-contact balancing for torque-controlled humanoid robots. The controller includes a non-strict task hierarchy, which allows the robot to use a subset of its end effectors for balancing while the remaining ones can be used for interacting with the environment. The controller creates a passive and compliant behavior for regulating the center of mass (CoM) location, hip orientation and the poses of each end effector assigned to the interaction task. This is achieved by applying a suitable wrench (force and torque) at each one of the end effectors used for interaction. The contact wrenches at the balancing end effectors are chosen such that the sum of the balancing and interaction wrenches produce the desired wrench at the CoM. The algorithm requires the solution of an optimization problem, which distributes the CoM wrench to the end effectors taking into account constraints for unilaterality, friction and position of the center of pressure. Furthermore, the feedback controller is combined with a feedforward control in order to improve performance while tracking a predefined trajectory, leading to a control structure similar to a PD+ control. The controller is evaluated in several experiments with the humanoid robot TORO.