Optimization of the ground reaction force for the humanoid robot balance control

Autor:	Long Li, Zhongqu Xie, Xiang Luo
Rok vydání:	2021
Předmět:	Computer Science::Robotics Computer science Control theory Mechanical Engineering Computational Mechanics Process (computing) Redundancy (engineering) Torque Kinematics Legged robot Ground reaction force Humanoid robot
Zdroj:	Acta Mechanica. 232:4151-4167
ISSN:	1619-6937 0001-5970
Popis:	This paper proposes an effective framework to control humanoid-ground physical interaction for balance. The key concept is to control both humanoid robot linear and angular momenta, which are computed by the whole body kinematics. We firstly determine the ground reaction force (GRF) according to the momenta and then distribute the GRF to the two feet. After determining the foot GRFs, we calculate the joint torques to realize the foot GRFs. Herein, we present an effective method to set the appropriate foot GRFs and transform these forces into full-body joint torques. It operates as a force control process. The joint redundancy is solved by optimizations and constraints. Besides, we modify the classical contact model for the legged robot system. The modified contact model can provide the scientifical ground reaction force. We test the controller using our full-sized humanoid robot emulational platform, including compliant balance and squatting, which demonstrates the effectiveness of the method.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::a4f6a50f6062f4d8431c9f9250478045 https://doi.org/10.1007/s00707-021-03025-1 Zobrazit plný text záznamu Plný text ve formátu PDF