论文标题
平衡人形运动的直接质心控制
Direct Centroidal Control for Balanced Humanoid Locomotion
论文作者
论文摘要
我们提出了一种基于直接质心控制的人形机器人的运动和平衡的综合方法。我们的方法使用人形生物的五质量描述。它从所需的脚部轨迹和机器人的质心参数产生了全身运动。一组简化的模型用于制定一般和直观的控制定律，然后实时应用它们，以估算和调节质量位置的中心和多体惯性主轴的方向。所提出的算法的组合产生了伸展的腿步态，并具有自然的上身运动。由于仅需要6轴IMU和关节编码器才能实现，因此机器人之间的可移植性很高。我们的方法已通过类人类开放式平台对实验进行了实验验证，证明了全身运动和推动排斥能力。
We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It generates whole-body motions from desired foot trajectories and centroidal parameters of the robot. A set of simplified models is used to formulate general and intuitive control laws, which are then applied in real-time for estimating and regulating the center of mass position and orientation of the multibody's principal axes of inertia. The combination of proposed algorithms produces a stretched-leg gait with naturally looking upper body motions. As only a 6-axis IMU and joint encoders are necessary for the implementation, the portability between robots is high. Our method has been experimentally verified using an igus Humanoid Open Platform, demonstrating whole-body locomotion and push rejection capabilities.
