论文标题
与惯性约束的人形机器人的快速全身运动控制
Fast Whole-Body Motion Control of Humanoid Robots with Inertia Constraints
论文作者
论文摘要
我们引入了一种新的分析方法，用于为人形机器人产生全身运动，该方法近似于所需的复合刚体（CRB）惯性。我们的方法使用了减少的五个质量模型，其中四个质量归因于四肢，而一种用于躯干。这种紧凑的配方可以找到一种分析溶液，将运动学与人形机器人的质量分布和惯性特性相结合。然后，直接使用质量在笛卡尔空间中的定位，以获得基于简单几何形状的关系的关节角度。通过通过所需的脚部定位和CRB惯性特性产生的姿势的时间演变来实现运动。结果，我们按数十微秒的顺序达到了短的计算时间。这使得适用于具有有限计算资源的应用程序，或者将其用于更高层次的任务，例如模型预测控制。通过使用Igus人形开放式平台机器人进行动态踢运动来评估该方法。
We introduce a new, analytical method for generating whole-body motions for humanoid robots, which approximate the desired Composite Rigid Body (CRB) inertia. Our approach uses a reduced five mass model, where four of the masses are attributed to the limbs and one is used for the trunk. This compact formulation allows for finding an analytical solution that combines the kinematics with mass distribution and inertial properties of a humanoid robot. The positioning of the masses in Cartesian space is then directly used to obtain joint angles with relations based on simple geometry. Motions are achieved through the time evolution of poses generated through the desired foot positioning and CRB inertia properties. As a result, we achieve short computation times in the order of tens of microseconds. This makes the method suited for applications with limited computation resources, or leaving them to be spent on higher-layer tasks such as model predictive control. The approach is evaluated by performing a dynamic kicking motion with an igus Humanoid Open Platform robot.
