基于任务的仿人机器人全身控制与ZMP调节，实时应用于蹲式运动

2014 IEEE 11th International Multi-Conference on Systems, Signals & Devices (SSD14) Pub Date : 2014-05-01 DOI:10.1109/SSD.2014.6808778

D. Galdeano, A. Chemori, S. Krut, P. Fraisse

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引用次数: 7

摘要

提出了一种基于任务的仿人机器人全身控制策略。其基本思想在于(1)用ZMP规则控制CoM，(2)机器人脚的相对姿态和(3)关节的极限规避。通过提出的研究表明，这些任务允许产生平滑的全身运动。实时实验结果表明了所提控制方案的有效性。

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Task-based whole-body control of humanoid robots with ZMP regulation, real-time application to a squat-like motion

In this paper, a task based whole-body control strategy is proposed for humanoid robots. Its basic idea lies in the control of (i) the CoM with a ZMP regulation, (ii) the relative pose of robot's feet and (iii) joint's limit avoidance. Through the proposed study, it is shown that these tasks allow to produce smooth whole-body motions. Real-time experimentation results are presented to show the effectiveness of the proposed control scheme.

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来源期刊

2014 IEEE 11th International Multi-Conference on Systems, Signals & Devices (SSD14)

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