论文标题
具有二次优化控制器的影响感知的人形机器人机器人运动产生
Impact-aware humanoid robot motion generation with a quadratic optimization controller
论文作者
论文摘要
在Hu-manoid机器人的多目标全身控制器中，没有处理影响感知的任务（即出于目的的影响）。这导致了这样一个事实，即类人机器人通常以接近零的速度运行以与外部环境相互作用。我们明确调查了冲击引起的速度和扭矩沿结构链接的繁殖，并提出一组始终满足硬件限制，维持已经建立的联系和稳定性度量的约束，即零矩点状况。如果没有对冲击位置或时间安排的假设，我们提出的控制器使类人形机器人能够生成非零的接触速度，而不会破坏已建立的接触或下降。我们方法的新颖性在于建立现有的连续动力学全身多目标控制器，而无需重置图或混合控制。
Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically operates at near-zero velocity to interact with the external environment. We explicitly investigate the propagation of the impact-induced velocity and torque jumps along the structure linkage and propose a set of constraints that always satisfy the hardware limits, sustain already established contacts and the stability measure, i.e. the zero moment point condition. Without assumptions on the impact location or timing, our proposed controller enables humanoid robots to generate non-zero contact velocity without breaking the established contacts or falling. The novelty of our approach lies in building on existing continuous dynamics whole body multi-objective controller without the need of reset-maps or hybrid control.
