用质心动力学简化人形机器人全身控制，大幅降低计算时间。
Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics
- 将机器人运动链分为约束与自由部分，用质心动力学简化自由部分。
- 仿真对比显示计算时间显著减少，且自由度越高越高效。
- 适合需要实时控制的复杂人形机器人系统使用。
本文提出一种提升人形机器人全身控制计算效率的新方法，针对其高自由度带来的计算挑战。通过将浮动基机器人的刚体动力学降维，将其运动链分割为约束与非约束部分，利用质心动力学简化非约束部分的动力学模型。该简化模型可应用于各类全身控制方法，使问题分解为两部分并行处理，实现更高效的计算。仿真实验验证了该框架的效率优势：计算时间显著缩短，且随着机器人自由度增加，计算效率进一步提升，优于现有方法。
原文摘要 · Abstract (English)
In this study, we present a novel method for enhancing the computational efficiency of whole-body control for humanoid robots, a challenge accentuated by their high degrees of freedom. The reduced-dimension rigid body dynamics of a floating base robot is constructed by segmenting its kinematic chain into constrained and unconstrained chains, simplifying the dynamics of the unconstrained chain through the centroidal dynamics. The proposed dynamics model is possible to be applied to whole-body control methods, allowing the problem to be divided into two parts for more efficient computation. The efficiency of the framework is demonstrated by comparative experiments in simulations. The calculation results demonstrate a significant reduction in processing time, highlighting an improvement over the times reported in current methodologies. Additionally, the results also shows the computational efficiency increases as the degrees of freedom of robot model increases.
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