基于动量控制的人型机器人实时稳定全身运动规划-控制理论与应用.PDF

31 6 Vol. 31 No. 6 2014 6 Control Theory Applications Jun. 2014 DOI: 10.7641/CTA.2014.13021 , ( , 201804) : . , ; , ; ; . , , . : ; ; ; ; : TP273 : A Momentum control for stable whole body motion of humanoid robots CHEN Yi-hong, CHEN Qi-jun (School of Electronics and Information, Tongji University, Shanghai 201804, China) Abstract: A momentum control method is proposed to solve the balance problem of a full-body humanoid robot on motion planning. First of all, a kinematic model based on the free-flying coordinate is developed to deal with whole body movements and extend the reachable space of the robot; then, in order to keep balance on the real-time motion planning, momentum parameters of robots are introduced, analyzed and calculated. Finally, the task space method is employed to simultaneously realize end-effectors’ tracking and the auto-balance constraint. Experiments and simulations are carried out on a real full-body humanoid robot to validate the performance of the final policy. When the proposed method is applied to a robot, it succeeds in bending the torso forward and tracking human’s movements by human movement capture device. Comparisons of the results with those obtained without the employment of the proposed method demonstrate the effectiveness and the necessities of this algorithm. Key words: free-flying; momentum control; auto-balance; humanoid robot; real-time 1 (Introduction) s) [3] , . Yamane [4] , . Chalodhorn [1] , .