Gabriele Nava, Luca Fiorio, Silvio Traversaro, D. Pucci
{"title":"欠驱动人形飞行机器人的位置和姿态控制","authors":"Gabriele Nava, Luca Fiorio, Silvio Traversaro, D. Pucci","doi":"10.1109/HUMANOIDS.2018.8624985","DOIUrl":null,"url":null,"abstract":"This paper proposes a control strategy for the stabilization of a jet-powered flying humanoid robot. In particular, the contribution of the paper concerns the design of a control framework capable of tracking a desired robot position and orientation trajectory while flying. Asymptotic stability of the closed loop system is shown by means of a Lyapunov analysis. Simulations are carried out on a model of the humanoid robot iCub to verify the soundness of the proposed approach.","PeriodicalId":433345,"journal":{"name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","volume":"92 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"13","resultStr":"{\"title\":\"Position and Attitude Control of an Underactuated Flying Humanoid Robot\",\"authors\":\"Gabriele Nava, Luca Fiorio, Silvio Traversaro, D. Pucci\",\"doi\":\"10.1109/HUMANOIDS.2018.8624985\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper proposes a control strategy for the stabilization of a jet-powered flying humanoid robot. In particular, the contribution of the paper concerns the design of a control framework capable of tracking a desired robot position and orientation trajectory while flying. Asymptotic stability of the closed loop system is shown by means of a Lyapunov analysis. Simulations are carried out on a model of the humanoid robot iCub to verify the soundness of the proposed approach.\",\"PeriodicalId\":433345,\"journal\":{\"name\":\"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)\",\"volume\":\"92 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"13\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/HUMANOIDS.2018.8624985\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/HUMANOIDS.2018.8624985","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Position and Attitude Control of an Underactuated Flying Humanoid Robot
This paper proposes a control strategy for the stabilization of a jet-powered flying humanoid robot. In particular, the contribution of the paper concerns the design of a control framework capable of tracking a desired robot position and orientation trajectory while flying. Asymptotic stability of the closed loop system is shown by means of a Lyapunov analysis. Simulations are carried out on a model of the humanoid robot iCub to verify the soundness of the proposed approach.