用预览控制实现足式机器人多接触运动的高效稳定轨迹生成
Centroidal Trajectory Generation and Stabilization based on Preview Control for Humanoid Multi-contact Motion
- 用预览控制替代传统模型预测控制，大幅降低计算开销
- 结合质心状态反馈与力分布策略，实现多接触动作稳定执行
- 适合研究足式机器人运动规划与实时控制的工程师和学者
多接触运动对人形机器人在复杂环境中的作业至关重要。本文提出一种基于预览控制的质心在线轨迹生成与稳定控制方法，用于实现人形机器人动态多接触运动。该方法通过用预览控制替代传统模型预测控制（考虑所有采样时刻约束），显著降低计算成本。结合质心状态反馈以增强抗扰能力，并采用力分布策略满足接触约束，仿真结果表明机器人可稳定执行多种多接触动作。
原文摘要 · Abstract (English)
Multi-contact motion is important for humanoid robots to work in various environments. We propose a centroidal online trajectory generation and stabilization control for humanoid dynamic multi-contact motion. The proposed method features the drastic reduction of the computational cost by using preview control instead of the conventional model predictive control that considers the constraints of all sample times. By combining preview control with centroidal state feedback for robustness to disturbances and wrench distribution for satisfying contact constraints, we show that the robot can stably perform a variety of multi-contact motions through simulation experiments.
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