Johannes Mayr, Alexander Reiter, Hubert Gattringer, Andreas Müller,
"Exploiting the Equations of Motion For Biped Robot Control with Enhanced Stability"
, in Josep M. Font-Llagunes: Multibody Dynamics, Serie Computational Methods in Applied Sciences, Vol. 42, Springer International Publishing, Switzerland, Seite(n) 299-321, 5-2016, ISBN: 978-3-319-30612-4
Exploiting the Equations of Motion For Biped Robot Control with Enhanced Stability
Sprache des Titels:
The scope of the present contribution is the derivation of the equations of
motion and its field of application for humanoid robots, in particular legged robots.
The derivation is performed in a modular and structured manner and it is shown how
these equations can be exploited for the control of biped robots. The used methods
allow to easily adopt the kinematic structure of single limbs and to reuse results
obtained for limbs with similar kinematic structure but different inertial parameters
such as in case the left leg is a mirrored version of the right one. After finding a
recursive formulation to calculate the equations of motion we perform various state
transformations and apply some model simplifications to obtain expressions that can be used to efficiently solve control problems.Twoapplications,compensatingforthe
overall angular momentum and calculation of feed-forward torques, are shown. In both applications we can exploit the recursive calculation of the equations of motion used during the subsystem synthesis giving rise to real-time algorithms that can be used on a physical humanoid robot system.