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 simplifying a robot model, comprising:
performing a singular value decomposition of an inertial term of the robot model; and determining singular values and corresponding singular vectors to keep in an inertial term of a first simplified model by matching a kinetic energy of the robot model and a kinetic energy of the first simplified model.