Dynamic Whole-Body Control of Unstable Wheeled Humanoid Robots

被引：37

作者：

Zambella, Grazia ^{[1
,2
]}

Lentini, Gianluca ^{[1
,2
,3
]}

Garabini, Manolo ^{[1
,2
]}

Grioli, Giorgio ^{[3
]}

Catalano, Manuel G. ^{[3
]}

Palleschi, Alessandro ^{[1
,2
]}

Pallottino, Lucia ^{[1
,2
]}

Bicchi, Antonio ^{[1
,2
,3
]}

Settimi, Alessandro ^{[1
,2
]}

Caporale, Danilo ^{[1
,2
]}

机构：

[1] Univ Pisa, Ctr Ric E Piaggio, I-56122 Pisa, Italy

[2] Univ Pisa, Informat Engn Dept, I-56122 Pisa, Italy

[3] Fdn Ist Italiano Tecnol, Soft Robot Human Cooperat & Rehabil, I-16163 Genoa, Italy

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2019年 / 4卷 / 04期

基金：

欧盟地平线“2020”;

关键词：

Wheeled robots; underactuated robots; humanoid robots;

D O I：

10.1109/LRA.2019.2927961

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Control of two-wheeled humanoid robots poses several challenges due to the unstable dynamics of their mobile base and the coupling between the upper and lower body dynamics. The problem is often faced in the literature with methods based on the linearized or simplified models that fail in exploiting the whole body dynamic capabilities of the platform in use. In this letter, we tackle the problem of whole-body dynamic control for a mobile wheeled unstable humanoid robot. Compared to the existing approaches based on online optimization to guarantee respect of the constraints, we propose a control method that takes into account the nominal constrained dynamics of the robot in the quasi-velocities through an internal model, thus reducing the computational burden. A computed-torque control law in the quasi-velocities is used to stabilize the robot around the upper position. We report on preliminary experimental results and on the method effectiveness in rejecting unknown external disturbances.

引用

页码：3489 / 3496

页数：8

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