| 摘要 |
The object of the invention is a humanoid robot (100) with a body (190) joined to an omnidirectional mobile ground base (140), equipped with :
- a body position sensor, a base position sensor and an angular velocity sensor to provide measures,
- actuators (212) comprising at least 3 wheels located in the omnidirectional mobile base,
- extractors (211) for converting sensored measures into useful data,
- a supervisor (500) to calculate position, velocity and acceleration commands from the useful data,
- means for converting commands into instructions for the actuators, characterized in that the supervisor comprises:
- a no-tilt state controller (501), a tilt state controller (502) and a landing state controller (503), each controller comprising means for calculating, position, velocity and acceleration commands based on a double point-mass robot model with tilt motion and on a linear model predictive control law, expressed as a quadratic optimization formulation with a weighted sum of objectives, and a set of predefined linear constraints. |
