力覚フィードバックによる位置制御ヒューマノイドの全身安定化
Force-feedback based Whole-body Stabilizer for Position-Controlled Humanoid Robots
6軸力覚センサ情報と全身ダイナミクスを活用し、重心追従と接触力追従を同時に最適化する二次計画法ベースの全身安定化器を提案し、MuJoCo上のWalkerロボットで従来手法より大幅な追従性能向上を示した。
著者: Shunpeng Yang, Hua Chen, Zhen Fu, Wei Zhang
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper studies stabilizer design for position-controlled humanoid robots. Stabilizers are an essential part for position-controlled humanoids, whose primary objective is to adjust the control input sent to the robot to assist the tracking controller to better follow the planned reference trajectory. To achieve this goal, this paper develops a novel force-feedback based whole-body stabilizer that fully exploits the six-dimensional force measurement information and the whole-body dynamics to improve tracking performance. Relying on rigorous analysis of whole-body dynamics of position-controlled humanoids under unknown contact, the developed stabilizer leverages quadratic-programming based technique that allows cooperative consideration of both the center-of-mass tracking and contact force tracking. The effectiveness of the proposed stabilizer is demonstrated on the UBTECH Walker robot in the MuJoCo simulator. Simulation validations show a significant improvement in various scenarios as compared to commonly adopted stabilizers based on the zero-moment-point feedback and the linear inverted pendulum model.
