On the dynamics modeling of free-floating-base articulated mechanisms and applications to humanoid whole-body dynamics and control
On the dynamics modeling of free-floating-base articulated mechanisms and applications to humanoid whole-body dynamics and control
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DOI：
10.1109/humanoids.2012.6651496
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发表时间：
2012-11
期刊：
影响因子：
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通讯作者：
Karim Bouyarmane;A. Kheddar
中科院分区：
文献类型：
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作者：
Karim Bouyarmane;A. Kheddar
本文提出了一种基于高斯最小约束原理的通用分析方案，用于推导任意参数自由浮动基座铰接机构的拉格朗日动力学运动方程。该机构的自由浮动基座是在6D李群SE（3）中演化的非致动刚性物体，其SO（3）分量可以使用具有等式约束的任意坐标图来参数化，例如单位四元数（也称为欧拉参数）。这类系统包括类人机器人，和所提出的形式主义是特别适合的全身动力学建模和控制问题，这样的类人系统。实例运动的人形在任意接触状态下与环境展示了独创性的方法。
We propose in this paper a general analytic scheme based on Gauss principle of least constraint for the derivation of the Lagrangian dynamics equation of motion of arbitrarily parameterized free-floating-base articulated mechanisms. The free-floating base of the mechanism is a non-actuated rigid object evolving in the 6D Lie group SE(3), the SO(3) component of which can be parameterized using arbitrary coordinate charts with equality constraints, for instance unit quaternions (also known as Euler parameters). This class of systems includes humanoid robots, and the presented formalism is particularly suitable for the whole-body dynamics modeling and control problem of such humanoid systems. Example motions of humanoid in arbitrary contact states with the environment demonstrate the originality of the approach.