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提出利用机器人质心(CoM)雅克比矩阵,实现全身协调补偿的算法。提出机器人的简化模型;分析基于CoM雅克比矩阵的补偿算法;采用CoM/ZMP(零点矩点)、减振和软着陆控制器实时控制双足步行,实现机器人全身协调的稳定控制;通过仿人机器人AFU09的双足步行实验证明该控制方法的有效性。 相似文献
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步行环境不理想、外力扰动等因素导致仿人机器人步行时ZMP出现误差,从而影响机器人的步行稳定性.由于机器人的各关节角度都对ZMP有影响,若只校正支撑腿的踝关节或髋关节等单个关节角度,则难以达到理想的步行控制效果,因此,本文综合考虑各关节角度对ZMP的影响,先通过模糊控制器基于ZMP误差给出机器人的质心位置增量,再利用二次规划方法和质心的雅可比矩阵求解出满足该质心位置增量的各关节角度校正量.仿真实验表明,本文方法较好地跟踪了期望ZMP,提高了步行稳定裕度,使仿人机器人实现了稳定的步行. 相似文献
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综述了仿人机器人动态步行的研究历史和研究现状。归纳了动态步行的特点,分析了动态步行稳定性判定方法,介绍了基于ZMP的姿态稳定判据和基于庞加莱映射(Poincaré Map)的步态稳定判据。总结了仿人机器人学习适应复杂地面环境步行的方法,概述了动态步行控制实现的典型解决方案,指出了动态步行控制中待解决的问题,并探讨了未来的发展方向。 相似文献
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本文介绍了一种通过动量控制来生成人型机器人稳定的全身运动生成算法.首先,本文引入了基于浮体坐标系的运动学模型来实现全身运动规划以及工作空间的拓展;并为了解决因此产生的实时运动规划中的稳定性问题,本文定义、分析、求解了机器人运动中的动量因素来作为运动过程中的自平衡器;结合任务空间法同时实现了末端轨迹跟踪和自平衡约束;最后通过仿真和实体机器人实验验证了最终算法的有效性.通过运用本文算法,机器人实现了在屈体向前以及动态跟踪人体运动两个应用场景中的自平衡,并通过对比有无平衡器的质心曲线等数据证明了算法的有效性以及必要性. 相似文献
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In this paper we propose a general control framework for ensuring stability of humanoid robots, determined through a normalized zero-moment-point (ZMP). The proposed method is based on the modified prioritized kinematic control, which allows smooth and continuous transition between priorities. This, as long as the selected criterion is met, allows arbitrary joint movement of a robot without any regard of the consequential movement of the ZMP. On the other hand, it constrains the movement when the criterion approaches a critical condition. The critical condition thus triggers a reflexive, subconscious behavior, which has a higher priority than the desired, conscious movement. The transition between the two is smooth and reversible. Furthermore, the switching is encapsulated in a single modified prioritized task control equation. We demonstrate the properties of the algorithm on two human-inspired robots developed in our laboratory; a human-inspired leg-robot used for imitating human movement and a skiing robot. 相似文献
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Robots acting in human environments usually need to perform multiple motion and force tasks while respecting a set of constraints. When a physical contact with the environment is established, the newly activated force task or contact constraint may interfere with other tasks. The objective of this paper is to provide a control framework that can achieve real-time control of humanoid robots performing both strict and non strict prioritized motion and force tasks. It is a torque-based quasi-static control framework, which handles a dynamically changing task hierarchy with simultaneous priority transitions as well as activation or deactivation of tasks. A quadratic programming problem is solved to maintain desired task hierarchies, subject to constraints. A generalized projector is used to quantitatively regulate how much a task can influence or be influenced by other tasks through the modulation of a priority matrix. By the smooth variations of the priority matrix, sudden hierarchy rearrangements can be avoided to reduce the risk of instability. The effectiveness of this approach is demonstrated on both a simulated and a real humanoid robot. 相似文献
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Juan Cristóbal Zagal José Delpiano Javier Ruiz-del-Solar 《Robotics and Autonomous Systems》2009,57(8):819-827
In this paper we discuss the applicability, potential benefits, open problems and expected contributions that an emerging set of self-modeling techniques might bring on the development of humanoid soccer robots. The idea is that robots might continuously generate, validate and adjust physical models of their sensorimotor interaction with the world. These models are exploited for adapting behavior in simulation, enhancing the learning skills of a robot with the regular transference of controllers developed in simulation to reality. Moreover, these simulations can be used to aid the execution of complex sensorimotor tasks, speed up adaptation and enhance task planning. We present experiments on the generation of behaviors for humanoid soccer robots using the Back-to-Reality algorithm. General motivations are presented, alternative algorithms are discussed and, most importantly, directions of research are proposed. 相似文献
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Ambarish Goswami Seung-kook Yun Umashankar Nagarajan Sung-Hee Lee KangKang Yin Shivaram Kalyanakrishnan 《Autonomous Robots》2014,36(3):199-223
Humanoid robots are expected to share human environments in the future and it is important to ensure the safety of their operation. A serious threat to safety is the fall of such robots, which can seriously damage the robot itself as well as objects in its surrounding. Although fall is a rare event in the life of a humanoid robot, the robot must be equipped with a robust fall strategy since the consequences of fall can be catastrophic. In this paper we present a strategy to change the default fall direction of a robot, during the fall. By changing the fall direction the robot may avoid falling on a delicate object or on a person. Our approach is based on the key observation that the toppling motion of a robot necessarily occurs at an edge of its support area. To modify the fall direction the robot needs to change the position and orientation of this edge vis-a-vis the prohibited directions. We achieve this through intelligent stepping as soon as the fall is predicted. We compute the optimal stepping location which results in the safest fall. Additional improvement to the fall controller is achieved through inertia shaping, which is a principled approach aimed at manipulating the robot’s centroidal inertia, thereby indirectly controlling its fall direction. We describe the theory behind this approach and demonstrate our results through simulation and experiments of the Aldebaran NAO H25 robot. To our knowledge, this is the first implementation of a controller that attempts to change the fall direction of a humanoid robot. 相似文献
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To overcome the tradeoff between torque density and response of the backdrivable actuators, actuation by electro-hydrostatic actuators (EHA) is effective. While their backdrivability and energy efficiency was shown in the previous studies, their closed-loop dynamic behavior was not discussed in detail. In this paper, we present the analysis and experimental evaluation of the force control performance of the electro-hydrostatic actuator for the humanoid robot ‘Hydra’. We first present a simplified model of EHA and show that EHA can be simplified as a mass-spring-damper model if all values such as pump torque/velocity and fluid pressure/flow-rate are expressed in the equivalent value seen from the actuator. We also show the comparison between the model and experimentally acquired open-loop dynamic behavior. Then, the evaluation on the force measurement and control performance is shown. The static friction on the rod-seal was 0.46% of the maximum piston force, and with additional strain gauge information, the error can be reduced to 0.28% of the maximum force. We also show that our developed EHA has a pressure control bandwidth of 100?Hz in the fixed piston configuration, which is higher than other state-of-the-art series elastic actuators. In the last of paper, the joint level position and torque control performance of Hydra is examined. 相似文献
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文章研发了一款适用于机器人教育教学的多功能、多用途、普适性的19自由度的小型仿人机器人,主要完成了该机器人的机械结构设计与控制系统构建工作[1]。所设计的机器人机械结构可靠性高、工艺性好、结构紧凑、样式新颖;所构建的机器人控制系统鲁棒性高、稳定性好、控制准确、反应迅速,圆满地实现了预期的设计任务。通过对优缺点的综合对比,得出组合式构型方案在功能性、实用性和稳定性等方面具有明显优势,有望通过后续软件系统的开发提高其运动效能,真正在青少年机器人教育中发挥重要作用[2]。 相似文献
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Many researchers have proposed walking pattern generation methods with zero moment point – center of gravity (ZMP–COG) constraints. Some of the researchers used a neural-networks (NN), a central pattern generator (CPG), or a genetic algorithm (GA) for ZMP–COG pattern generation. However, the parameters used in those methods are too many, and the procedure to learn or to search them costs too much computation time. Other researchers designed controllers or used analytical solution method to generate COG trajectories. These methods generate the ZMP-COG pattern very quickly, but the COG height is limited to a constant to linearize the inverted pendulum model of the robot. Due to this limitation, the robots cannot walk freely on surfaces that change in height. To solve this problem, researchers start to use the original nonlinear inverted pendulum model to make the COG height changeable such as using a numerical method or a feedback controller. In this paper, an optimal control-based pattern generator that can allow COG height change is proposed. It can solve sagittal and lateral COG patterns with arbitrarily assigned COG height and ZMP trajectories in real time. Thus, dynamic walking on height-changing surfaces can be achieved. 相似文献
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As humanoid social robots are developed rapidly in recent years and experimented in social situations, comparing them to humans
provides insights into practical as well as philosophical concerns. This study uses the theoretical framework of communication
constraints, derived in human–human communication research, to compare whether people apply social-oriented constraints and
task-oriented constraints differently to human targets versus humanoid social robot targets. A total of 230 students from
the University of Hawaii at Manoa participated in the study. The participants completed a questionnaire, which determined
their concern for the five communication constraints (feelings, non-imposition, disapproval, clarity, and effectiveness) in
situations involving humans or robots. The results show people were more concerned with avoiding hurting the human’s feelings,
avoiding inconveniencing the human interactive partner, and avoiding being disliked by the human and less concerned with avoiding
hurting the robot’s feelings, avoiding inconveniencing the robot partner, and avoiding being disliked by the robot. But people
did not differ in their concerns of the two task-oriented constraints (clarity and effectiveness) in response to humans versus
humanoid robots. The results of the research suggest that people are more likely to emphasize the social-oriented constraints
in communication with humans. 相似文献