Control Scheme and Uncertainty Considerations for Dynamic Balancing of Passive-Ankled Bipeds and Full Humanoids
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)(2018)
摘要
We propose a methodology for dynamically balancing passive-ankled bipeds and full humanoids. As dynamic locomotion without ankle-actuation is more difficult than with actuated feet, our control scheme adopts an efficient whole-body controller that combines inverse kinematics, contact-consistent feed-forward torques, and low-level motor position controllers. To understand real-world sensing and controller requirements, we perform an uncertainty analysis on the linear-inverted-pendulum (LIP)-based footstep planner. This enables us to identify necessary hardware and control refinements to demonstrate that our controller can achieve long-term unsupported dynamic balancing on our series-elastic biped, Mercury. Through simulations, we also demonstrate that our control scheme for dynamic balancing with passive-ankles is applicable to full humanoid robots.
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关键词
dynamic balancing,motor position controllers,linear-inverted-pendulum-based footstep planner,uncertainty analysis,contact-consistent feed-forward torques,whole-body controller,ankle-actuation,dynamic locomotion,full humanoids,passive-ankled bipeds
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