一种全身协调运动控制方法,用于高度冗余的自由度 移动人形机器人
Hao Niu1, Xin Zhao1, Hongzhe Jin2
1School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China.
Biomimetics (Basel, Switzerland)
|December 27, 2024
概括
这项研究为移动人形机器人引入了一种全身控制算法,优化了手臂的潜在能量,以实现更流,更类似人类的运动. 该方法有效地管理机器人的冗余性,并提高复杂环境中的任务性能.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
- 控制系统 控制系统
背景情况:
- 具有轮式底盘和双臂的移动人形机器人对于工业和家庭环境中的复杂任务至关重要.
- 双脚步行限制需要替代配置,以增强移动性和任务执行.
- 这些机器人的高冗余性对协调运动控制构成了重大挑战.
研究的目的:
- 为移动类人机器人开发全身协调运动控制算法.
- 为了解决冗余问题,使用臂潜在能量优化来解决这个问题.
- 通过模拟人类手臂,实现现实和高效的人形运动.
主要方法:
- 机器人手臂的构造引力和虚拟扭矩弹潜在能量模型.
- 开发了一个基于手臂潜在能量的优化指数函数.
- 利用具有可变刚性的神经网络来模仿人类手臂的特性.
- 采用姿势映射方法将人类手臂模型转换为机器人.
- 综合任务空间和联合空间规划,用于全面的运动控制.
主要成果:
- 通过模拟验证了拟议的控制算法的有效性.
- 证明了平滑的运动和维持低潜能能量状态.
- 确认机器人运动与人类手臂的操作特征保持一致.
- 成功执行任务,包括单臂操纵,物体检索和双臂携带.
结论:
- 臂潜在能量优化方法有效地管理移动人形机器人的冗余性.
- 该算法可以实现类似人类的运动,提高机器人的适应性和性能.
- 这种方法为各种应用中先进的人形机器人控制提供了有前途的解决方案.
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