未知のペイロード下におけるヒューマノイドロボットの適応型全身MPCと最適姿勢計画
Adaptive Whole-Body MPC with Optimal Posture Planning for Humanoid Robots under Unknown Payloads
未知で変動するペイロードに対応するため、重心MPC・適応ファジィバランス制御・ウェイポイントベースの最適姿勢計画を統合し、持ち上げ・運搬時の安定した全身動作を実現した。
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著者: Manh Cuong Nguyen, Duc Cuong Vu, Viet Anh Vu, Duc Tuan Pham, Toan Nguyen, Minh Hiep Phung, Ngo Anh Vien, Minh Nhat Vu
分類: cs.RO
原文アブストラクト
Humanoid robots performing lifting and material-handling tasks must maintain balance despite unknown and varying payloads. However, payload uncertainty significantly affects whole-body dynamics and may destabilize conventional controllers. We propose an adaptive whole-body control architecture that integrates three components: (i) a centroidal model predictive controller (MPC) that generates dynamically feasible reference motions, (ii) an adaptive fuzzy balance controller that compensates for payload-induced model mismatch by generating corrective torques distributed across the supporting-leg joints, and (iii) a waypoint-based optimal posture planner built on a triple-integrator model that produces smooth sit-to-stand and stand-to-sit trajectories satisfying center-of-mass (CoM) stability constraints, joint limits, and whole-body feasibility requirements. Together, these components enable stable lowering, grasping, lifting, carrying, and placing behaviors under significant payload uncertainty. Extensive simulation and hardware experiments demonstrate that the proposed framework improves balance robustness and reduces tracking degradation during posture transitions and lifting tasks compared to non-adaptive baselines.
