Robust biped walking with active interaction control between foot and ground
Robust biped walking with active interaction control between foot and ground
复制标题
稳健的双足行走，具有足部和地面之间的主动交互控制
DOI：
10.1109/robot.1998.680613
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发表时间：
1998
期刊：
影响因子：
--
通讯作者：
A. Kawamura
中科院分区：
文献类型：
--
作者：
Y. Fujimoto;Satoshi Obata;A. Kawamura
描述了一种基于脚点反作用力交互控制的两足步行控制系统：1)基于笛卡尔空间运动控制器的脚点反力/力矩交互的鲁棒控制；2)二次规划法考虑脚点反力/力矩的物理约束的姿态控制。由于环境相互作用是直接受控的，因此该方法实现了两足机器人的鲁棒运动。将该控制应用于20轴仿真模型，在存在未知小坡度的情况下，实现了两足机器人的稳定运动。通过14轴双足机器人的实验验证了稳定的姿态控制。
Describes a biped walking control system based on the reactive force interaction control at the foothold: 1) robust control of reactive force/torque interaction at the foothold based on Cartesian space motion controller: 2) posture control considering the physical constraints of the reactive force/torque at the foothold by quadratic programming. The proposed approach realizes robust biped locomotion because the environmental interaction is directly controlled. The control is applied to the 20 axes simulation model, and the stable biped locomotion is realized even if an unknown small slope exists. Stable attitude control is confirmed by 14-axis biped robot experiments.