浮遊機械システムの制御設計のための全身ソフトウェア抽象化レイヤ
A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems
ロボットの実装詳細から制御ソフトを切り離し、全身制御器の設計を容易にするソフトウェア抽象化レイヤを提案し、PD+重力補償や二足バランス制御で実装例を示した。
著者: Francesco Romano, Silvio Traversaro, Daniele Pucci, Jorhabib Eljaik, Andrea Del Prete, Francesco Nori
分類: cs.RO
原文アブストラクト
In this paper, we propose a software abstraction layer to simplify the design and synthesis of whole-body controllers without making any preliminary assumptions on the control law to be implemented. The main advantage of the proposed library is the decoupling of the control software from implementation details, which are related to the robotic platform. Furthermore, the resulting code is more clean and concise than ad-hoc code, as it focuses only on the implementation of the control law. In addition, we present a reference implementation of the abstraction layer together with a Simulink interface to provide support to Model-Driven based development. We also show the implementation of a simple proportional-derivative plus gravity compensation control together with a more complex momentum-based bipedal balance controller.
