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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Dynamic Torso Compliance Control for Standing and Walking Balance of Position-Controlled Humanoid Robots
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Dynamic Torso Compliance Control for Standing and Walking Balance of Position-Controlled Humanoid Robots

机译：动态躯干合规控制，用于站立控制的人形机器人的站立和行走平衡

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摘要

The humanoid robot, one of the ideal unmanned systems, has the potential to perform tasks currently carried out by human workers in industry, manufacturing, service, and disaster response. In such complicated environments with unknown disturbances, compliance is important for a humanoid robot, especially a position-controlled one, to maintain balance while performing a task. This article presents a dynamic torso compliance method for position-controlled humanoid robots to adapt to unknown external disturbances while standing or walking. This method comprises two independent controllers. One controller, which is based on a linear inverted pendulum with a flywheel, is used to realize compliant behavior by controlling the torso postures according to the zero moment point. The other controller, which is based on a double inverted pendulum, is adopted to obtain the dynamic torso movements as well as maintain balance through a quadratic-programming-based controller. With the proposed method, controls for compliance and balance are decoupled, and a position-controlled robot can perform dynamic torso compliance and maintain balance while standing or walking. The performance of the proposed method is validated by simulations and experiments on a position-controlled humanoid robot (BHR-T).
机译：人形机器人是理想的无人制度之一，有可能执行当前由工业，制造，服务和灾害反应的人类工作者进行的任务。在具有未知干扰的这种复杂环境中，合规对于人类机器人，尤其是位置控制的环境很重要，以在执行任务时保持平衡。本文提出了一种动态躯干合规方法，用于定位控制的人形机器人，以适应站立或行走时的未知外部干扰。该方法包括两个独立的控制器。一种控制器，其基于具有飞轮的线性倒置摆，用于通过根据零时刻点控制躯干姿势来实现兼容行为。基于双倒立摆的另一个控制器被采用来获得动态躯干运动以及通过基于二次编程的控制器保持平衡。通过提出的方法，对遵守和平衡的控制进行解耦，位置控制机器人可以在站立或行走时进行动态躯干合规性并保持平衡。通过模拟和实验验证了所提出的方法的性能，并对位置控制的人形机器人（BHR-T）进行验证。

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  • 来源
    《Mechatronics, IEEE/ASME Transactions on》 |2021年第2期|679-688|共10页
  • 作者

    Li Qingqing; Meng Fei; Yu Zhangguo; Chen Xuechao; Huang Qiang;

  • 作者单位

    Beijing Inst Technol BIT Sch Mechatron Engn Beijing 100081 Peoples R China|Key Lab Biomimet Robots & Syst Minist Educ Beijing 100081 Peoples R China|Beijing Adv Innovat Ctr Intelligent Robots & Syst Beijing 100081 Peoples R China;

    Beijing Inst Technol BIT Sch Mechatron Engn Beijing 100081 Peoples R China|Key Lab Biomimet Robots & Syst Minist Educ Beijing 100081 Peoples R China|Beijing Adv Innovat Ctr Intelligent Robots & Syst Beijing 100081 Peoples R China;

    BIT Sch Mechatron Engn Beijing 100081 Peoples R China|Int Joint Res Lab Biomimet Robots & Syst Minist Educ Beijing 100081 Peoples R China|State Key Lab Intelligent Control & Decis Complex Beijing 100081 Peoples R China;

    Beijing Inst Technol BIT Sch Mechatron Engn Beijing 100081 Peoples R China|Key Lab Biomimet Robots & Syst Minist Educ Beijing 100081 Peoples R China|Beijing Adv Innovat Ctr Intelligent Robots & Syst Beijing 100081 Peoples R China;

    BIT Sch Mechatron Engn Beijing 100081 Peoples R China|Int Joint Res Lab Biomimet Robots & Syst Minist Educ Beijing 100081 Peoples R China|State Key Lab Intelligent Control & Decis Complex Beijing 100081 Peoples R China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Humanoid robots; Torso; Robots; Legged locomotion; Dynamics; Trajectory; Mechatronics; Compliance control; humanoid robot; standing balance; walking balance;

    机译：人形机器人;躯干;机器人;腿运动;动态;轨迹;机电一体化;合规性控制;人形机器人;常设平衡;步行平衡;

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