ヒューマノイドロボットの位置・速度制御歩行に向けたDCMベース制御アーキテクチャのベンチマーク
A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots
DCM（発散運動成分）に基づく3層制御アーキテクチャの複数実装を比較し、iCubロボットで0.41m/sの歩行を実現した実装を明らかにした。
著者: Giulio Romualdi, Stefano Dafarra, Yue Hu, Daniele Pucci
分類: cs.RO
原文アブストラクト
This paper contributes towards the development and comparison of Divergent-Component-of-Motion (DCM) based control architectures for humanoid robot locomotion. More precisely, we present and compare several DCM based implementations of a three layer control architecture. From top to bottom, these three layers are here called: trajectory optimization, simplified model control, and whole-body QP control. All layers use the DCM concept to generate references for the layer below. For the simplified model control layer, we present and compare both instantaneous and Receding Horizon Control controllers. For the whole-body QP control layer, we present and compare controllers for position and velocity control robots. Experimental results are carried out on the one-meter tall iCub humanoid robot. We show which implementation of the above control architecture allows the robot to achieve a walking velocity of 0.41 meters per second.
