トルク制御ヒューマノイドにおける階層型逆動力学によるバランス制御の実験的評価
Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics
階層型逆動力学制御を実機のトルク制御ヒューマノイドに実装し、計算簡略化により高速トルク制御ループで動作させ、片脚立位を含むバランス制御の有効性を実験で示した。
著者: Alexander Herzog, Ludovic Righetti, Felix Grimminger, Peter Pastor, Stefan Schaal
分類: cs.RO
原文アブストラクト
Recently several hierarchical inverse dynamics controllers based on cascades of quadratic programs have been proposed for application on torque controlled robots. They have important theoretical benefits but have never been implemented on a torque controlled robot where model inaccuracies and real-time computation requirements can be problematic. In this contribution we present an experimental evaluation of these algorithms in the context of balance control for a humanoid robot. The presented experiments demonstrate the applicability of the approach under real robot conditions (i.e. model uncertainty, estimation errors, etc). We propose a simplification of the optimization problem that allows us to decrease computation time enough to implement it in a fast torque control loop. We implement a momentum-based balance controller which shows robust performance in face of unknown disturbances, even when the robot is standing on only one foot. In a second experiment, a tracking task is evaluated to demonstrate the performance of the controller with more complicated hierarchies. Our results show that hierarchical inverse dynamics controllers can be used for feedback control of humanoid robots and that momentum-based balance control can be efficiently implemented on a real robot.
