駆動整合レンチポリトープと実行可能レンチポリトープ
The Actuation-consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP)
脚式ロボットの運動計画で関節トルク最小化や最大推進を可能にするため、摩擦円錐と駆動限界を満たす重心加速度制約を定義する2つの6次元有界ポリトープ(AWPとFWP)を提案した。
著者: Romeo Orsolino, Michele Focchi, Carlos Mastalli, Hongkai Dai, Darwin G. Caldwell, Claudio Semini
分類: cs.RO
原文アブストラクト
The motivation of our current research is to devise motion planners for legged locomotion that are able to exploit the robot's actuation capabilities. This means, when possible, to minimize joint torques or to propel as much as admissible when required. For this reason we define two new 6 dimensional bounded polytopes that we name Actuation-consistent Wrench Polytope (AWP) and Feasible Wrench Polytope (FWP). These objects turn out to be very useful in motion planning for the definition of constraints on the accelerations of the Center of Mass of the robot that respect the friction cones and the actuation limits. The AWP and the FWP could be used also in the robot design phase to size the actuators of the system based on some predefined reference motion.
