A survey: dynamics of humanoid robots

被引：24
作者：
Sugihara, Tomomichi [1 ,2 ]
Morisawa, Mitsuharu [3 ]
机构：
[1] Preferred Networks Inc, Chiyoda Ku, 1-6-1 Otemachi, Tokyo 1000004, Japan
[2] Osaka Univ, Grad Sch Engn, Suita, Osaka, Japan
[3] Natl Inst Adv Ind Sci & Technol, CNRS AIST JRL Joint Robot Lab, UMI3218, IRL, Tsukuba, Ibaraki, Japan
来源：
ADVANCED ROBOTICS | 2020年 / 34卷 / 21-22期
关键词：
Humanoid robot; contact mechanics; centroidal dynamics; COM-ZMP model; motion resolution control; MOTION RATE CONTROL; WALKING CONTROL; BIPED WALKING; LEGGED LOCOMOTION; CONTACT MODEL; FORCE CONTROL; SIMULATION; MANIPULATORS; STABILITY; SYSTEMS;
D O I：
10.1080/01691864.2020.1778524
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The mathematical foundation to describe the dynamics of a humanoid mechanism is reviewed. The discussion begins with the kinematics of an anthropomorphic mechanism, followed by the equation of motion of the system and the contact mechanics that accompanies with the motions. Some compact representations of both the robot dynamics and the contact mechanics are summarized. The former is referred to as the centroidal dynamics derived from the total momenta of the system, while the latter includes the contact wrench sum and the zero-moment point. They are naturally joined as a reduced-order dynamics model derived from an approximate relationship between the center of mass and the zero-moment point. Finally, some techniques to synthesize the intended motion into the joint actuation torques under limitations of contact forces are shown. This is basically a translation of a Japanese version with some modifications and reorganizations.
引用
收藏
页码：1338 / 1352
页数：15
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