Yaw Moment Control for Humanoid Robot with Joint Acceleration Constraints

被引：0

作者：

Yang L. ^{[1
,3
]}

Fu G.-P. ^{[2
]}

Chen Y. ^{[3
]}

机构：

[1] School of Computer Engineering, University of Electronic Science and Technology of China, Zhongshan Institute, Zhongshan, 528402, Guangdong

[2] School of Automation, Zhongkai University of Agriculture and Engineering, Guangzhou, 510225, Guangdong

[3] School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, 611731, Sichuan

来源：

Tien Tzu Hsueh Pao/Acta Electronica Sinica | 2019年 / 47卷 / 02期

关键词：

Humanoid robot; Joint acceleration constraints; Quadratic programming; Yaw moment; Zero moment point;

D O I：

10.3969/j.issn.0372-2112.2019.02.031

中图分类号：

学科分类号：

摘要：

To cancel the effect on control performance due to joint acceleration constraints during humanoid robot walks, a new yaw moment control approach with consideration of joint acceleration constraints is proposed. After analyzing the effect on stability caused by the motion of arms swing, the undesired yaw moment which needs to be counteracted is computed. Then, the yaw moment control problem is formulated as a quadratic programming problem with inequality constraints. To solve this optimization problem effectively, an online variable step-size iteration method is designed to generate the trajectories of arms swinging. The experiment and simulation results verified that the proposed approach can effectively compensate yaw moment, avoid peak cut-off phenomenon and guarantee the stable walking. © 2019, Chinese Institute of Electronics. All right reserved.

引用

页码：475 / 482

页数：7

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