DCM追従と歩幅調整を組み合わせた二足歩行の安定化
Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment
発散運動成分(DCM)の追従と着地点の調整を組み合わせ、アクティブ/パッシブ足首の二足ロボットの歩行を安定化させる手法を提案し、シミュレーションで有効性を示した。
著者: Majid Khadiv, Sebastien Kleff, Alexander Herzog, S. Ali. A. Moosavian, Stefan Schaal, Ludovic Righetti
分類: cs.RO
原文アブストラクト
In this paper, a method for stabilizing biped robots stepping by a combination of Divergent Component of Motion (DCM) tracking and step adjustment is proposed. In this method, the DCM trajectory is generated, consistent with the predefined footprints. Furthermore, a swing foot trajectory modification strategy is proposed to adapt the landing point, using DCM measurement. In order to apply the generated trajectories to the full robot, a Hierarchical Inverse Dynamics (HID) is employed. The HID enables us to use different combinations of the DCM tracking and step adjustment for stabilizing different biped robots. Simulation experiments on two scenarios for two different simulated robots, one with active ankles and the other with passive ankles, are carried out. Simulation results demonstrate the effectiveness of the proposed method for robots with both active and passive ankles.
