重心動力学を用いた簡略化全身動力学による全身制御の効率的計算
Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics
ヒューマノイドロボットの全身制御を効率化するため、運動連鎖を拘束・非拘束に分割し、非拘束側を重心動力学で簡略化する手法を提案。計算時間を大幅に短縮し、自由度が増えるほど効率が向上することを示した。
著者: Junewhee Ahn, Jaesug Jung, Yisoo Lee, Hokyun Lee, Sami Haddadin, Jaeheung Park
分類: cs.RO
原文アブストラクト
In this study, we present a novel method for enhancing the computational efficiency of whole-body control for humanoid robots, a challenge accentuated by their high degrees of freedom. The reduced-dimension rigid body dynamics of a floating base robot is constructed by segmenting its kinematic chain into constrained and unconstrained chains, simplifying the dynamics of the unconstrained chain through the centroidal dynamics. The proposed dynamics model is possible to be applied to whole-body control methods, allowing the problem to be divided into two parts for more efficient computation. The efficiency of the framework is demonstrated by comparative experiments in simulations. The calculation results demonstrate a significant reduction in processing time, highlighting an improvement over the times reported in current methodologies. Additionally, the results also shows the computational efficiency increases as the degrees of freedom of robot model increases.
