具有未知反作用力的仿人机器人冲击运动的主动稳定

Seung-Joon Yi, Byoung-Tak Zhang, D. Hong, Daniel D. Lee
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引用次数: 16

摘要

在繁重的工作中,人类利用全身运动来产生巨大的力量。在极端情况下,夸张的重量变化被用来产生巨大的冲击力。基于精确的机器人和目标物体的动力学模型,已经有了设计稳定的全身冲击运动的方法,但它们具有实际的局限性,因为随之而来的反作用力的不确定性可能导致不稳定。在当前的工作中,我们描述了一个人形机器人的运动控制器,它在末端执行器上产生冲击,同时保持机器人身体在冲击前后的平衡。我们不再依赖于冲击动力学模型的准确性,而是使用机器人的简化模型和生物力学驱动的推力恢复控制器来反应性地稳定机器人,以应对来自冲击的未知扰动。我们在物理逼真的模拟中演示了我们的方法,并在小型人形机器人平台上进行了实验。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Active stabilization of a humanoid robot for impact motions with unknown reaction forces
During heavy work, humans utilize whole body motions in order to generate large forces. In extreme cases, exaggerated weight shifts are used to impart large impact forces. There have been approaches to design stable whole body impact motions based on precise dynamic models of the robot and the target object, but they have practical limitations as the uncertainty in the ensuing reaction forces can lead to instability. In the current work, we describe a motion controller for a humanoid robot that generates impacts at an end effector while keeping the robot body balanced before and after the impact. Instead of relying on the accuracy of the impact dynamics model, we use a simplified model of the robot and biomechanically motivated push recovery controllers to reactively stabilize the robot against unknown perturbations from the impact. We demonstrate our approach in physically realistic simulations, as well as experimentally on a small humanoid robot platform.
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