ジェット推進型飛行ヒューマノイドロボットの故障検出と耐故障制御
Failure Detection and Fault Tolerant Control of a Jet-Powered Flying Humanoid Robot
ジェット推進飛行ヒューマノイドiRonCubでタービン1基が失われた際に、回転数ベースの故障検出と運動量ベースの飛行制御、特異点回避と衝突回避を考慮した参照生成を組み合わせて飛行を維持する枠組みを提案し、シミュレーションで有効性を示した。
著者: Gabriele Nava, Daniele Pucci
分類: cs.RO
原文アブストラクト
Failure detection and fault tolerant control are fundamental safety features of any aerial vehicle. With the emergence of complex, multi-body flying systems such as jet-powered humanoid robots, it becomes of crucial importance to design fault detection and control strategies for these systems, too. In this paper we propose a fault detection and control framework for the flying humanoid robot iRonCub in case of loss of one turbine. The framework is composed of a failure detector based on turbines rotational speed, a momentum-based flight control for fault response, and an offline reference generator that produces far-from-singularities configurations and accounts for self and jet exhausts collision avoidance. Simulation results with Gazebo and MATLAB prove the effectiveness of the proposed control strategy.
