DCMに基づく二足歩行ロボット制御アーキテクチャのベンチマーク
A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots
DCMに基づく3層制御アーキテクチャを位置・速度・トルク制御モードで比較評価し、iCubで最高速度0.3372m/sの歩行を実現した。
著者: Giulio Romualdi, Stefano Dafarra, Yue Hu, Prashanth Ramadoss, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci
分類: cs.RO
原文アブストラクト
This paper contributes towards the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent Component of Motion (DCM) and composed of three main layers: trajectory optimization, simplified model control, and whole-body QP control layer. While the first two layers use simplified robot models, the whole-body QP control layer uses a complete robot model to produce either desired positions, velocities, or torques inputs at the joint-level. This paper then compares two implementations of the simplified model control layer, which are tested with position, velocity, and torque control modes for the whole-body QP control layer. In particular, both an instantaneous and a Receding Horizon controller are presented for the simplified model control layer. We show also that one of the proposed architectures allows the humanoid robot iCub to achieve a forward walking velocity of 0.3372 meters per second, which is the highest walking velocity achieved by the iCub robot.
