粘弾性環境モデリングによるヒューマノイドロボットの動作制御
Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control
環境をバネ-ダンパ系の連続体としてモデル化し、大きな接触面でも使える接触力・トルク計算手法を提案。iCubの歩行シミュレーションで全身制御を検証し、剛体接触前提の従来手法との比較やモデル不確かさへの頑健性も分析した。
著者: Giulio Romualdi, Stefano Dafarra, Daniele Pucci
分類: cs.RO
原文アブストラクト
This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact force and torque that the environment exerts on the contact surface. We show that the proposed model extends the linear and rotational springs and dampers - classically used to characterize soft terrains - to the case of large contact surface orientations. The contact model is then used for the real-time whole-body control of humanoid robots walking on visco-elastic environments. The overall approach is validated by simulating walking motions of the iCub humanoid robot. Furthermore, the paper compares the proposed whole-body control strategy and state of the art approaches. In this respect, we investigate the terrain compliance that makes the classical approaches assuming rigid contacts fail. We finally analyze the robustness of the presented control design with respect to non-parametric uncertainty in the contact-model.
