Dynamic multi-contact transitions for humanoid robots using Divergent Component of Motion
Dynamic multi-contact transitions for humanoid robots using Divergent Component of Motion
复制标题
使用运动发散分量的人形机器人的动态多接触过渡
DOI：
--
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
C. Ott
中科院分区：
文献类型：
--
作者：
George Mesesan;Johannes Englsberger;Bernd Henze;C. Ott
提出了一种新的仿人机器人动态多接触运动规划与控制方法。我们的运动规划器采用多接触姿态序列，并基于运动发散分量(DCM)的概念为机器人重心(COM)位置、速度和加速度生成闭合形式的参考轨迹。自动计算接触过渡和末端执行器轨迹的定时，使得运动相对于运动学和动力学约束是可行的。我们使用一个简化的机器人模型来验证约束，以实现一个非常快速的规划器，在几秒钟内找到可行的解。参考轨迹作为基于被动性的全身控制器的输入，该控制器包括用于跟踪COM轨迹的DCM控制器。我们用仿人机器人Toro进行了仿真和实验，证明了该方法的鲁棒性。
This paper presents a new method for planning and controlling dynamic multi-contact motions for humanoid robots. Our motion planner takes a sequence of multi-contact stances and generates closed-form reference trajectories for the robot center of mass (CoM) position, velocity, and acceleration, based on the concept of Divergent Component of Motion (DCM). The timing of the contact transitions and the end-effector trajectories are automatically computed such that the motion is feasible with respect to kinematic and dynamic constraints. We verify the constraints using a simplified model of the robot to achieve a very fast planner that finds a feasible solution within a few seconds. The reference trajectories serve as inputs to a passivity-based whole-body controller which includes a DCM controller for tracking the CoM trajectory. We demonstrate the robustness of our approach in simulation and experiments with the humanoid robot TORO.