ヒューマノイド制御arXiv:1803.04266
トルク制御ヒューマノイドにおける摩擦の活用
Exploiting Friction in Torque Controlled Humanoid Robots
トルク制御ヒューマノイドの内側ループが補償しがちな関節摩擦を、むしろ安定化に活かす制御手法を提案し、iCubで実験した論文。
著者: Gabriele Nava, Diego Ferigo, Daniele Pucci
分類: cs.RO
原文アブストラクト
A common architecture for torque controlled humanoid robots consists in two nested loops. The outer loop generates desired joint/motor torques, and the inner loop stabilises these desired values. In doing so, the inner loop usually compensates for joint friction phenomena, thus removing their inherent stabilising property that may be also beneficial for high level control objectives. This paper shows how to exploit friction for joint and task space control of humanoid robots. Experiments are carried out using the humanoid robot iCub.
