Full-body compliant human-humanoid interaction: Balancing in the presence of unknown external forces
Full-body compliant human-humanoid interaction: Balancing in the presence of unknown external forces
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DOI：
10.1109/tro.2007.904896
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发表时间：
2007-10-01
影响因子：
7.8
通讯作者：
Cheng, Gordon
中科院分区：
文献类型：
--
作者：
Hyon, Sang-Ho;Hale, Joshua G.;Cheng, Gordon
提出了一种有效的人-仿人机器人物理交互框架。它的关键组成部分是一个新的控制技术，在存在外力的情况下，全身平衡，这是提出，然后验证经验。我们采用了一种综合系统的方法来开发人形机器人。在此，我们描述了在这种情况下，在人机交互过程中复制类似人类的能力和反应的重要性。我们的平衡控制器提供重力补偿，使机器人被动，从而促进安全的物理交互。该方法通过设置适当的地面反作用力并将这些力转换为全身关节扭矩来操作。它可以处理机器人上任意数量的作用力。它不需要在感兴趣的接触点测量力。它既不需要逆运动学，也不需要逆动力学。它可以适应不平坦的地面。它作为力控制过程运行，因此可以使用基于力、速度或位置的控制来适应同时的控制过程。力以最佳方式分布在支撑接触点上。在无源性的背景下，通过阻尼注入来解决联合冗余。我们提出了各种力的相互作用实验，使用我们的全尺寸双足人形平台，包括顺应平衡，即使受到未知的外力，这表明了该方法的有效性。
This paper proposes an effective framework of human-humanoid robot physical interaction. Its key component is a new control technique for full-body balancing in the presence of external forces, which is presented and then validated empirically. We have adopted an integrated system approach to develop humanoid robots. Herein, we describe the importance of replicating human-like capabilities and responses during human-robot interaction in this context. Our balancing controller provides gravity compensation, making the robot passive and thereby facilitating safe physical interactions. The method operates by setting an appropriate ground reaction force and transforming these forces into full-body joint torques. It handles an arbitrary number of force in teraction points on the robot. It does not require force measurement at interested contact points. It requires neither inverse kinematics nor inverse dynamics. It can adapt to uneven ground surfaces. It operates as a force control process, and can therefore, accommodate simultaneous control processes using force-, velocity-, or position-based control. Forces are distributed over supporting con tact points in an optimal manner. Joint redundancy is resolved by damping injection in the context of passivity. We present various force interaction experiments using our full-sized bipedal humanoid platform, including compliant balance, even when affected by unknown external forces, which demonstrates the effectiveness of the method.