時間二重外乱吸収法に基づくヒューマノイドロボットの全身協調運動制御

Abstract

A pattern-based approach towards the motion control of humanoid robots. which reduces its difficulty due to the strong nonlinearity, has to be assisted by an online stabilization to absorb disturbances in the real world. This paper proposes a stabilization method for humanoid robots, based on an idea of Dual Term Absorption of Disturbance, which simultaneously absorbs the error in both force pattern and kinematic pattern. These conflicting schemes are solved in accordance with the difference of time span, namely, force condition should be considered in short term, while kinematic condition tolerates to be considered rather in long term. The fact that such force-kinematic condition has to be taken into account arises from the absence of fixed points in the inertia frame. The advantage of proposed is that it allows to choose any combination of joints as modified properties, so that it is applicable for various types of robots and motions.