Task-space Whole-body Control with Variable Contact Force Control for Position-controlled Humanoid Adaptation to Unknown Disturbance  

作　　者：Zelin Huang Chencheng Dong Zhangguo Yu Xuechao Chen Fei Meng Qiang Huang 

机构地区：[1]School of Mechatronical Engineering,Beijing Institute of Technology,Beijing,100081,China [2]Key Laboratory of Biomimetic Robots and Systems,Ministry of Education,Beijing,100081,China

出　　处：《Journal of Bionic Engineering》2023年第5期2069-2087,共19页仿生工程学报（英文版）

基　　金：This work was supported in part by the National Natural Science Foundation of China under Grant 62073041 and 61973039;in part by the Beijing Municipal Science and Technology Project under Grant Z221100000222013;in part by the“111”Project under Grant B08043.

摘　　要：Whole-body control is beneficial for improving the disturbance adaptation of humanoid robots,since it can simultaneously optimize desired joint torque,joint acceleration,and contact force while considering whole-body dynamics and other physical limits.However,the lack of torque feedback information prevents the position-controlled humanoids from utilizing whole-body control directly,because it enhances the difficulty of guaranteeing desired contact force which is important for maintaining stability.In this paper,a whole-body control that integrates task-space inverse dynamics and variable contact force control is proposed for position-controlled humanoids to enhance the robot’s adaptability toward the unknown disturbance.The task-space inverse dynamics generates the desired joint acceleration and contact force with the consideration of whole-body dynamics and other limits to track the references.The variable contact force control modifies references related to Center of Mass(CoM)and end effectors to ensure reasonable contact force tracking performance,thereby assuring good tracking performance of CoM and momentum to maintain robot stability.Simulations and experiments of balancing and walking under unknown disturbance have been successfully conducted on a position-controlled humanoid robot,BHR-7P3,with the proposed method.

关 键 词：Whole-body control Contact force Admittance control Humanoid robot 

分 类 号：TP183[自动化与计算机技术—控制理论与控制工程] TP242[自动化与计算机技术—控制科学与工程]