多接触点運動量制御のための軌道生成
Trajectory generation for multi-contact momentum-control
ヒューマノイドの全身運動量方程式を用いた軌道最適化により、任意の接触位置での接触力と運動量軌道を計画し、階層型全身制御で複雑地形の歩行を実現した。
著者: Alexander Herzog, Nicholas Rotella, Stefan Schaal, Ludovic Righetti
分類: cs.RO
原文アブストラクト
Simplified models of the dynamics such as the linear inverted pendulum model (LIPM) have proven to perform well for biped walking on flat ground. However, for more complex tasks the assumptions of these models can become limiting. For example, the LIPM does not allow for the control of contact forces independently, is limited to co-planar contacts and assumes that the angular momentum is zero. In this paper, we propose to use the full momentum equations of a humanoid robot in a trajectory optimization framework to plan its center of mass, linear and angular momentum trajectories. The model also allows for planning desired contact forces for each end-effector in arbitrary contact locations. We extend our previous results on LQR design for momentum control by computing the (linearized) optimal momentum feedback law in a receding horizon fashion. The resulting desired momentum and the associated feedback law are then used in a hierarchical whole body control approach. Simulation experiments show that the approach is computationally fast and is able to generate plans for locomotion on complex terrains while demonstrating good tracking performance for the full humanoid control.
