CAJ | 학술논문

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。
본문개소료일충통과동량공제래생성인형궤기인은정적전신운동생성산법。수선，본문인입료기우부체좌표계적운동학모형래실현전신운동규화이급공작공간적탁전；병위료해결인차산생적실시운동규화중적은정성문제，본문정의、분석、구해료궤기인운동중적동량인소래작위운동과정중적자평형기；결합임무공간법동시실현료말단궤적근종화자평형약속；최후통과방진화실체궤기인실험험증료최종산법적유효성。통과운용본문산법，궤기인실현료재굴체향전이급동태근종인체운동량개응용장경중적자평형，병통과대비유무평형기적질심곡선등수거증명료산법적유효성이급필요성。
A momentum control method is proposed to solve the balance problem of a full-body humanoid robot on motion planning. First of all, a kinematic model based on the free-flying coordinate is developed to deal with whole body movements and extend the reachable space of the robot;then, in order to keep balance on the real-time motion planning, momentum parameters of robots are introduced, analyzed and calculated. Finally, the task space method is employed to simultaneously realize end-effectors’ tracking and the auto-balance constraint. Experiments and simulations are carried out on a real full-body humanoid robot to validate the performance of the final policy. When the proposed method is applied to a robot, it succeeds in bending the torso forward and tracking human’s movements by human movement capture device. Comparisons of the results with those obtained without the employment of the proposed method demonstrate the effectiveness and the necessities of this algorithm.