论文标题
控制和评估滚动膝盖的类人机器人
Control and Evaluation of a Humanoid Robot with Rolling Contact Knees
论文作者
论文摘要
在本文中，我们通过提供对其设计和控制的高级描述来介绍类人形机器人Draco 3。该机器人具有近端致动和机械伪像，可提供高范围的臀部，膝盖和脚踝运动。它的多功能设计带来了有趣的问题，因为它需要更精细的控制系统来执行其动作。因此，我们引入了一个全身控制器（WBC），并支持滚动接触接头，并显示如何轻松地集成到我们先前呈现的开源计划和控制（PNC）框架中。然后，我们通过显示执行两项姿势任务的初步结果，在Draco 3上实验验证控制器。最后，我们分析了近端致动设计的影响，并与其他成人大小的类人形生物相比，它显示了它的位置。
In this paper, we introduce the humanoid robot DRACO 3 by providing a high-level description of its design and control. This robot features proximal actuation and mechanical artifacts to provide a high range of hip, knee and ankle motion. Its versatile design brings interesting problems as it requires a more elaborate control system to perform its motions. For this reason, we introduce a whole body controller (WBC) with support for rolling contact joints and show how it can be easily integrated into our previously presented open-source Planning and Control (PnC) framework. We then validate our controller experimentally on DRACO 3 by showing preliminary results carrying out two postural tasks. Lastly, we analyze the impact of the proximal actuation design and show where it stands in comparison to other adult-size humanoids.
