Systemic derivation of simplified dynamics for humanoid robots

摘要

The disclosure provides an approach for determining simplified models of humanoid robots. A simplification application linearizes a robot model around a nominal state and performs a singular value decomposition of an inertial term of the model, selecting singular values and corresponding singular vectors to be kept in an inertial term of a simplified model by matching a kinetic energy of the original model to a kinetic energy of the simplified model. Further, a gravitational forces term and a velocity-dependent forces term may be determined by computing active joint torques at sample poses around the nominal pose and solving for the gravitational forces term and the velocity-dependent forces term. A mapping from the simplified model to the original model may be determined using, e.g., numerical optimization.

主权项

1. A computer-implemented method for controlling a robot using a robot model, comprising:
performing a singular value decomposition of an inertial term of a robot model; simplifying the robot model to obtain a first simplified model, wherein the simplifying includes determining singular values and corresponding singular vectors from the singular value decomposition to keep in an inertial term of the first simplified model by matching a kinetic energy of the robot model and a kinetic energy of the first simplified model; controlling the first simplified model using a first controller to determine first joint torque inputs to achieve a control objective with the first simplified model; optimizing a cost function to determine joint torques and expected contact forces for the robot model using the first joint torque inputs and joint reference trajectories; and controlling the robot using the determined joint torques and expected contact forces.