二足歩行ロボットの歩行と走行を統合するフレームワーク
A unified framework for walking and running of bipedal robots
重心空間の仮想拘束を用いてLIPMの固定重心高さ仮定を緩和し、歩行と走行の多様な歩容を低い複雑さで生成する手法を提案。フィードバックで動力学を線形化し、QPで外乱に適応する制御を実現した。
著者: Mahrokh Ghoddousi Boroujeni, Elham Daneshmand, Ludovic Righetti, Majid Khadiv
分類: cs.RO
原文アブストラクト
In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) height assumption of the linear inverted pendulum model (LIPM) and generate a wider range of walking and running motions, without a considerable increase in complexity. To do so, we use the concept of virtual constraints in the centroidal space which enables generating motions beyond walking while keeping the complexity at a minimum. By a proper choice of these virtual constraints, we show that we can generate different types of walking and running motions. More importantly, enforcing the virtual constraints through feedback renders the dynamics linear and enables us to design a feedback control mechanism which adapts the next step location and timing in face of disturbances, through a simple quadratic program (QP). To show the effectiveness of this framework, we showcase different walking and running simulations of the biped robot Bolt in the presence of both environmental uncertainties and external disturbances.
