直列並列ハイブリッド浮遊基底系の拘束動力学に基づくカンガルー下半身のモデリングと数値解析
Modeling and Numerical Analysis of Kangaroo Lower Body based on Constrained Dynamics of Hybrid Serial-Parallel Floating-Base Systems
PAL Roboticsの新型二足歩行ロボット「Kangaroo」の下半身について、浮遊基底系の拘束動力学モデルを構築し、足先の等価慣性や重心角運動量をTALOSと比較して改善を実証した。
著者: Enrico Mingo Hoffman, Andrea Curti, Narcis Miguel, Sai Kishor Kothakota, Alberto Molina, Adria Roig, Luca Marchionni
分類: cs.RO
原文アブストラクト
This paper presents the modeling and numerical analysis of the Kangaroo lower body prototype, a novel bipedal humanoid robot developed and manufactured by PAL Robotics. Kangaroo features high-power linear electric actuators combined with unique serial-parallel hybrid chains, which allow for the positioning of all the leg actuators near the base of the robot in order to improve the overall mass distribution. To model and analyze such complex nonlinear mechanisms, we employ a constrained formulation that is extended to account for floating-base systems in contact with the environment. A comparison is made to demonstrate the significant improvements achieved with TALOS, another humanoid bipedal robot designed by PAL Robotics, in terms of equivalent Cartesian inertia at the feet and centroidal angular momentum. Finally, the paper includes numerical experiments conducted through simulation and preliminary tests performed on the actual Kangaroo platform.
