Whole-body control is beneficial for improving the disturbance adaptation of humanoid robots,since it can simultaneously optimize desired joint torque,joint acceleration,and contact force while considering whole-body ...Whole-body control is beneficial for improving the disturbance adaptation of humanoid robots,since it can simultaneously optimize desired joint torque,joint acceleration,and contact force while considering whole-body dynamics and other physical limits.However,the lack of torque feedback information prevents the position-controlled humanoids from utilizing whole-body control directly,because it enhances the difficulty of guaranteeing desired contact force which is important for maintaining stability.In this paper,a whole-body control that integrates task-space inverse dynamics and variable contact force control is proposed for position-controlled humanoids to enhance the robot’s adaptability toward the unknown disturbance.The task-space inverse dynamics generates the desired joint acceleration and contact force with the consideration of whole-body dynamics and other limits to track the references.The variable contact force control modifies references related to Center of Mass(CoM)and end effectors to ensure reasonable contact force tracking performance,thereby assuring good tracking performance of CoM and momentum to maintain robot stability.Simulations and experiments of balancing and walking under unknown disturbance have been successfully conducted on a position-controlled humanoid robot,BHR-7P3,with the proposed method.展开更多
基金This work was supported in part by the National Natural Science Foundation of China under Grant 62073041 and 61973039in part by the Beijing Municipal Science and Technology Project under Grant Z221100000222013in part by the“111”Project under Grant B08043.
文摘Whole-body control is beneficial for improving the disturbance adaptation of humanoid robots,since it can simultaneously optimize desired joint torque,joint acceleration,and contact force while considering whole-body dynamics and other physical limits.However,the lack of torque feedback information prevents the position-controlled humanoids from utilizing whole-body control directly,because it enhances the difficulty of guaranteeing desired contact force which is important for maintaining stability.In this paper,a whole-body control that integrates task-space inverse dynamics and variable contact force control is proposed for position-controlled humanoids to enhance the robot’s adaptability toward the unknown disturbance.The task-space inverse dynamics generates the desired joint acceleration and contact force with the consideration of whole-body dynamics and other limits to track the references.The variable contact force control modifies references related to Center of Mass(CoM)and end effectors to ensure reasonable contact force tracking performance,thereby assuring good tracking performance of CoM and momentum to maintain robot stability.Simulations and experiments of balancing and walking under unknown disturbance have been successfully conducted on a position-controlled humanoid robot,BHR-7P3,with the proposed method.
