接触制約を考慮した計算効率とロバスト性を両立する優先度付き全身制御器
Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints
浮遊ベース動力学と反力のみの二次計画で計算を効率化し、摩擦円錐制約に合わせてタスク加速度を緩和することでロバスト性を高めたヒューマノイド向け優先度付き全身制御器を提案し、シミュレーションと実機で検証した。
著者: Donghyun Kim, Jaemin Lee, Orion Campbell, Hochul Hwang, Luis Sentis
分類: cs.RO
原文アブストラクト
In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body controllers that is very general via incorporating centroidal momentum dynamics, operational task priorities, contact re- action forces, and internal force constraints. First, we achieve efficiency by solving a quadratic program that only involves the floating base dynamics and the reaction forces. Second, we achieve computational robustness by relaxing task accelerations such that they comply with friction cone constraints. Finally, we incorporate methods for smooth contact transitions to enhance the control of dynamic locomotion behaviors. The proposed methods are demonstrated both in simulation and in real experiments using a passive-ankle bipedal robot.
