動的環境におけるヒューマノイドロボットのモデリングと制御：シーソー上でバランスを取るiCub
Modeling and Control of Humanoid Robots in Dynamic Environments: iCub Balancing on a Seesaw
ロボットと動的環境の相互作用を考慮したモデリング・制御フレームワークを提案し、iCubがシーソー上でバランスを取るシミュレーションで検証した。
著者: Gabriele Nava, Daniele Pucci, Nuno Guedelha, Silvio Traversaro, Francesco Romano, Stefano Dafarra, Francesco Nori
分類: cs.RO
原文アブストラクト
Forthcoming applications concerning humanoid robots may involve physical interaction between the robot and a dynamic environment. In such scenario, classical balancing and walking controllers that neglect the environment dynamics may not be sufficient for achieving a stable robot behavior. This paper presents a modeling and control framework for balancing humanoid robots in contact with a dynamic environment. We first model the robot and environment dynamics, together with the contact constraints. Then, a control strategy for stabilizing the full system is proposed. Theoretical results are verified in simulation with robot iCub balancing on a seesaw.
