Inertia-coupling based balance control of a humanoid robot on unstable ground

K. Tamegaya, Y. Kanamiya, M. Nagao, D. Sato
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引用次数: 9

Abstract

A humanoid robot should be able to keep balance in the presence of various disturbances. We address here a class of disturbances that are due to an unstable ground, when conventional methods of control, e.g. ZMP based ones, are not applicable. The equation of motion has the form of an underactuated system, such as that of a free-flying robot or of a flexible-base/flexible-link robot. We develop an inertia-coupling based control method, similar to the control methods used in previous works for vibration suppression of flexible-base robots. Simulations with a planar humanoid robot are presented for two types of disturbances: (i) rotating surface and (ii) jointed-toe foot model. It is shown that, under the proposed control laws, balance can be recovered in a stable and optimal way, in both cases.
基于惯性耦合的不稳定地面仿人机器人平衡控制
人形机器人应该能够在各种干扰的情况下保持平衡。当传统的控制方法,例如基于ZMP的方法不适用时,我们在这里处理一类由于不稳定地面引起的干扰。运动方程具有欠驱动系统的形式,如自由飞行机器人或柔性基座/柔性连杆机器人的运动方程。我们开发了一种基于惯性耦合的控制方法,类似于以前用于柔性基机器人抑制振动的控制方法。对平面类人机器人进行了两种干扰的仿真:(i)旋转表面和(ii)关节趾足模型。结果表明,在所提出的控制律下,两种情况下都能以稳定和最优的方式恢复平衡。
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