ヒューマノイドのリミットサイクル型コントローラにおける 最大出力許容集合と運動遷移制御

Abstract

This paper addresses a framework of motion transition for humanoid robots by switching various types of controllers. In motion transition, one of the key issues is the physical constraint in humanoid dynamics. In this study, by switching controllers based on the maximal output admissible (MOA) set, we realize motion transitions without exceeding the physical constraint. In particular, we present a novel computation method of the MOA set for a limit cycle controller, which is often used for steady walking. By approximately calculating the MOA set via sample point cloud, we can obtain a closed form of the MOA set even in a nonlinear system. We demonstrate examples of motion transition and verify the validity of the proposed framework.