在人形机器人上使用逆动力学实际考虑扭矩跟踪传感器融合控制律案例.pdfVIP

2015IEEE/RSJInternationalConferenceonIntelligentRobotsandSystems(IROS)

CongressCenterHamburg

Sept28-Oct2,2015.Hamburg,Germany

Practicalconsiderationsinusinginversedynamics

onahumanoidrobot:

torquetracking,sensorfusionandCartesiancontrollaws

SalmanFaraji,LucaColasantoandAukeJanIjspeert

—AlthoughconsideringdynamicsinthecontroloffrictionlimitsaswellaskeepingtheCenterofPressure(CoP)

humanoidrobotscanimprovetrackingandcomplianceininsideeachsupportpolygoncouldnotbeeasilyaddressed

agiletasks,itrequireslocalandglobalstatesofthesystem,inclassicalformulationslike[1].StephensandAtkeson[2]

precisetorquecontrolandpropermodeling.Inthispaperwe

discusspracticalissuestoimplementinversedynamicsonaformulatedtheproblemintoatwostagedoptimization.At

torquecontrolledrobot.Bymodelingelectricalactuatorsoff-firsttheyoptimizedcontactforcesandmomentswithrespect

line,invertingsuchmodelandestimatingthefrictionon-line,atotheCenterofMass(CoM)accelerationandthetotal

highbandwidthtorquecontrollerisimplemented.Inaddition,momentum.Contacts’frictionandCoPlimitationswerealso

acascadeofoptimizationproblemstofuseallthesensorydataconsideredinthisstage.Thentheyfoundjointtorquesusing

comingfromIMU,jointencodersandcontactforcesensors

estimatetherobot’sglobalstaterobustly.Ourestimationbuildsmoreconventionalpseudo-inversemethodslike[1].Herzog

thekinematicchainofthel