Parsimonious Kinematic Control of Highly Redundant Robots
Parsimonious Kinematic Control of Highly Redundant Robots
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DOI：
10.1109/lra.2015.2506259
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发表时间：
2016
影响因子：
5.2
通讯作者：
V. M. Gonçalves;P. Fraisse;A. Crosnier;Bruno Vilhena Adorno
中科院分区：
文献类型：
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作者：
V. M. Gonçalves;P. Fraisse;A. Crosnier;Bruno Vilhena Adorno
当机器人与要执行的任务相比高度冗余时，当前的控制技术并不“经济”，因为它们在大多数情况下不必要地要求所有关节移动。这种行为对于某些应用可能是不期望的。在这个方向上，这项工作提出了一个新的控制范式的基础上，线性规划，本质上提供了一个吝啬的控制策略，即，其中很少关节移动。除了正式的稳定性证明，这封信提出了模拟和实验结果的HOAP-3人形机器人。最后，与基于任务雅可比矩阵的伪逆的最小二乘方法进行了比较，表明所提出的方法确实比经典方法使用更少的关节。
When a robot is highly redundant in comparison to the task to be executed, current control techniques are not “economic” in the sense that they demand, most of the time unnecessarily, all the joints to move. Such behavior can be undesirable for some applications. In this direction, this work proposes a new control paradigm based on linear programming that intrinsically provides a parsimonious control strategy, i.e, one in which few joints move. In addition to a formal stability proof, this letter presents simulation and experimental results on the HOAP-3 humanoid robot. Finally, a comparison is made with a least-square method based on the pseudoinverse of the task Jacobian, showing that the proposed method indeed uses fewer joints than the classic one.