直列弾性アクチュエータを備えたヒューマノイドロボットの運動量制御
Momentum Control of Humanoid Robots with Series Elastic Actuators
関節に弾性を持つヒューマノイドロボット向けに、モータ速度を中間制御入力として扱うことで運動量ベースの制御を拡張する手法を提案し、iCubモデルのシミュレーションで有効性を検証した。
著者: Gabriele Nava, Daniele Pucci, Francesco Nori
分類: math.OC, cs.RO
原文アブストラクト
Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking controllers. This paper proposes a control framework for extending momentum based controllers developed for stiff actuators to the case of series elastic actuators. The key point is to consider the motor velocities as an intermediate control input, and then apply high-gain control to stabilise the desired motor velocities achieving momentum control. Simulations carried out on a model of the robot iCub verify the soundness of the proposed approach.
