应用于人形机器人运动生成的预览控制

IF 1.2 4区计算机科学 Q4 AUTOMATION & CONTROL SYSTEMS

Archives of Control Sciences Pub Date : 2023-07-20 DOI:10.24425/ACS.2019.127526

Maksymilian Szumowski, M. Zurawska, T. Zielińska

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引用次数: 4

摘要

本文提出了一种基于机器人专用简化动力学模型(扩展推车-桌子模型)的类人机器人运动生成的概念。研究了步长相等的仿人机器人步态。在此，采用预览控制方法获得运动模式。首先在仿真(离线)中获得运动轨迹，然后在试验台上进行验证。使用真实机器人进行的测试证实了该方法的正确性。机器人在不失去平衡的情况下完成了一组步骤。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Preview Control applied for humanoid robot motion generation

This paper presents a concept of humanoid robot motion generation using the dedicated simpliﬁed dynamic model of the robot (Extended Cart-Table model). Humanoid robot gait with equal steps length is considered. Motion pattern is obtained here with use of Preview Control method. Motion trajectories are ﬁrst obtained in simulations (oﬀ-line) and then they are veriﬁed on a test-bed. Tests performed using the real robot conﬁrmed the correctness of the method. Robot completed a set of steps without losing its balance.

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来源期刊

Archives of Control Sciences Mathematics-Modeling and Simulation

CiteScore

2.40

自引率

33.30%

发文量

审稿时长

14 weeks

期刊介绍： Archives of Control Sciences welcomes for consideration papers on topics of significance in broadly understood control science and related areas, including: basic control theory, optimal control, optimization methods, control of complex systems, mathematical modeling of dynamic and control systems, expert and decision support systems and diverse methods of knowledge modelling and representing uncertainty (by stochastic, set-valued, fuzzy or rough set methods, etc.), robotics and flexible manufacturing systems. Related areas that are covered include information technology, parallel and distributed computations, neural networks and mathematical biomedicine, mathematical economics, applied game theory, financial engineering, business informatics and other similar fields.