对比两种人形机器人全身控制方法在实际场景中的表现差异。
Experimental Comparison of Whole-Body Control Formulations for Humanoid Robots in Task Acceleration and Task Force Spaces
- 分别在任务加速度空间和任务力空间设计控制算法
- 实验验证了两种方法在跳跃、负重深蹲等动作中的稳定性差异
- 适合研究机器人控制鲁棒性或系统集成的工程师参考
本文实验对比了两种人形机器人全身控制方法：基于逆动力学的全身控制（ID-WBC）与基于无源性的全身控制（PB-WBC）。前者在任务加速度空间中建模，后者则在任务力空间中结合无源性设计。尽管两者在理想闭环动力学下均能保证稳定性，但其对关节摩擦、传感器噪声、未建模外部扰动及非理想接触条件的鲁棒性尚不明确。为此，我们在人形机器人平台上通过摆动脚位置与姿态控制、带/不带额外负载的深蹲以及跳跃等实验，分析并比较了两种控制器的实际性能。结果揭示了不同控制架构带来的动态特性差异，并指出了各自的优势与局限。
原文摘要 · Abstract (English)
This paper studies the experimental comparison of two different whole-body control formulations for humanoid robots: inverse dynamics whole-body control (ID-WBC) and passivity-based whole-body control (PB-WBC). The two controllers fundamentally differ from each other as the first is formulated in task acceleration space and the latter is in task force space with passivity considerations. Even though both control methods predict stability under ideal conditions in closed-loop dynamics, their robustness against joint friction, sensor noise, unmodeled external disturbances, and non-perfect contact conditions is not evident. Therefore, we analyze and experimentally compare the two controllers on a humanoid robot platform through swing foot position and orientation control, squatting with and without unmodeled additional weights, and jumping. We also relate the observed performance and characteristic differences with the controller formulations and highlight each controller's advantages and disadvantages.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。