近似シミュレーションに基づくテンプレート型全身制御
Approximate Simulation for Template-Based Whole-Body Control
剛体力学のハミルトン構造を利用して高次元非線形系の近似シミュレーションを構築し、テンプレートモデルに基づく受動的で頑健な全身制御手法を提案した。30自由度ヒューマノイドのシミュレーションで有効性を示した。
著者: Vince Kurtz, Patrick M. Wensing, Hai Lin
分類: cs.RO
原文アブストラクト
Reduced-order template models are widely used to control high degree-of-freedom legged robots, but existing methods for template-based whole-body control rely heavily on heuristics and often suffer from robustness issues. In this letter, we propose a template-based whole-body control method grounded in the formal framework of approximate simulation. Our central contribution is to demonstrate how the Hamiltonian structure of rigid-body dynamics can be exploited to establish approximate simulation for a high-dimensional nonlinear system. The resulting controller is passive, more robust to push disturbances, uneven terrain, and modeling errors than standard QP-based methods, and naturally enables high center of mass walking. Our theoretical results are supported by simulation experiments with a 30 degree-of-freedom Valkyrie humanoid model.
