脚式ロボットのための可積分な全身姿勢座標
Integrable Whole-body Orientation Coordinates for Legged Robots
システムの運動履歴に依存せず、特定のリンクに固定されない全身の姿勢を定義し、その変化率が全角運動量を近似する座標を提案。実機実験を含む複数の応用例を示した。
著者: Yu-Ming Chen, Gabriel Nelson, Robert Griffin, Michael Posa, Jerry Pratt
分類: cs.RO
原文アブストラクト
Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a \emph{whole-body orientation} that (i) depends on system configuration only and not a history of motion, (ii) can be representative of the orientation of the entire system while not being attached to any specific link, and (iii) has a rate of change that approximates total system angular momentum. We relate this orientation coordinate to past work, and discuss and demonstrate, including on hardware, several different uses for it.
