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Humanoid Locomotion Control and Generation Based on Contact Wrench Cones
International Journal of Humanoid Robotics ( IF 1.5 ) Pub Date : 2019-07-29 , DOI: 10.1142/s021984361950021x
Yu Zheng 1 , Shi Wen Liao 2 , Katsu Yamane 3
Affiliation  

This paper presents a general framework for locomotion control and generation of humanoid robots. Different from most of the existing work which uses the zero-moment point (2mp) to determine the feasibility of robot’s motion, we use the so-called contact wrench cone to derive motion feasibility conditions, whole-body motion controllers, and locomotion generators. The contact wrench cone consists of all feasible wrenches that can be applied to the robot through contacts, which provide allowable external forces and moments for realizing the robot’s motion. Algorithms are proposed to compute quantities defined on linear representations of a general convex cone, which can be various contact wrench cones as needed in developing motion generators and controllers. Based on the contact wrench cone for contact links and the proposed algorithms as well as a decomposition of the whole-body dynamics of a floating-base humanoid robot, we derive two motion tracking controllers. One controller contains a single quadratic program with linear inequality constraints, while the other consists of two quadratic programs which can be quickly solved by one of the proposed algorithms and in a closed form, respectively. Both controllers can be applied in real-time and achieve similar motion tracking performance in simulation. Based on contact wrench cones, furthermore, we derive two motion generation methods for humanoid robots. The first method adapts a reference motion, most often infeasible, to the robot by warping the motion’s time line so that the motion trajectory will remain the same but the velocity and acceleration profiles will be changed. The second method generates bipedal locomotion for given footsteps. All the proposed motion controllers and generators are applicable to general scenarios including uneven terrains and motions with the support of other links besides feet.

中文翻译:

基于接触扳手锥的人形运动控制与生成

本文提出了运动控制和仿人机器人生成的一般框架。与现有的大多数使用零力矩点(2mp)来确定机器人运动可行性的工作不同,我们使用所谓的接触扳手锥来推导运动可行性条件、全身运动控制器和运动发生器。接触扳手锥体由所有可通过接触作用于机器人的可行扳手组成,为实现机器人的运动提供允许的外力和力矩。提出了一种算法来计算在一般凸锥的线性表示上定义的量,根据开发运动发生器和控制器的需要,凸锥可以是各种接触扳手锥。基于接触链的接触扳手锥体和所提出的算法以及对浮基仿人机器人全身动力学的分解,我们推导出了两个运动跟踪控制器。一个控制器包含一个具有线性不等式约束的二次程序,而另一个控制器由两个二次程序组成,可以分别通过所提出的算法之一和封闭形式快速求解。两种控制器都可以实时应用,并在仿真中实现类似的运动跟踪性能。此外,基于接触扳手锥,我们推导出了两种仿人机器人的运动生成方法。第一种方法适应参考运动,通常是不可行的,通过扭曲运动的时间线来传递给机器人,这样运动轨迹将保持不变,但速度和加速度曲线会发生变化。第二种方法为给定的脚步生成双足运动。所有提出的运动控制器和生成器都适用于一般场景,包括不平坦的地形和除了脚之外的其他链接支持的运动。
更新日期:2019-07-29
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