スイングアームで強化された二足ロボットの高動的ロコモーション制御
Highly dynamic locomotion control of biped robot enhanced by swing arms
二足ロボットの腕の振りをF-SLIPモデルと全身制御で統合し、跳躍動作で俊敏性・安定性・省エネ性が向上することを示した。
著者: Weijie Wang, Song Liu, Qinfeng Shan, Lihao Jia
分類: cs.RO
原文アブストラクト
Swing arms have an irreplaceable role in promoting highly dynamic locomotion on bipedal robots by a larger angular momentum control space from the viewpoint of biomechanics. Few bipedal robots utilize swing arms and its redundancy characteristic of multiple degrees of freedom due to the lack of appropriate locomotion control strategies to perfectly integrate modeling and control. This paper presents a kind of control strategy by modeling the bipedal robot as a flywheel-spring loaded inverted pendulum (F-SLIP) to extract characteristics of swing arms and using the whole-body controller (WBC) to achieve these characteristics, and also proposes a evaluation system including three aspects of agility defined by us, stability and energy consumption for the highly dynamic locomotion of bipedal robots. We design several sets of simulation experiments and analyze the effects of swing arms according to the evaluation system during the jumping motion of Purple (Purple energy rises in the east)V1.0, a kind of bipedal robot designed to test high explosive locomotion. Results show that Purple's agility is increased by more than 10 percent, stabilization time is reduced by a factor of two, and energy consumption is reduced by more than 20 percent after introducing swing arms.
