Paper Info
Title
The Vrp Generalized Inverse And Its Application In Dcm/Vrp-Based Walking Control
Abstract
A generalized inverse, referred to as the virtual-repellent-point generalized inverse (VRP-GI), is proposed to solve the underdetermined body-wrench distribution problem. The VRP-GI is derived as a modification of the divergent-component-of-motion generalized inverse (DCM-GI) introduced in a previous study. The VRP-GI inherits all the advantages of the DCM-GI, including its computational efficiency. In addition, the VRP-GI ensures a distribution of the body wrench that generates smaller ground reaction moments (GRMs) than the DCM-GI. This feature renders the VRP-GI based body-wrench distribution problem suitable for dynamic walking control. A whole-body walking controller is proposed that makes use of a well-known DCM/VRP gait generation and walking control approach. The controller also comprises control components for tracking the desired angular excursion of the trunk and the spatial trajectories of the hands. These control components do not interfere with the DCM/VRP control component. The performance of the controller is examined via numerical simulations of walking on a flat ground and climbing a staircase and a slope on irregular footholds.
Year
DOI
Venue
2019
10.1109/LRA.2019.2931245
IEEE ROBOTICS AND AUTOMATION LETTERS
Keywords
DocType
Volume
Legged locomotion, Jacobian matrices, Dynamics, Trajectory, Foot, Acceleration, Humanoid robots, Humanoid robots, legged locomotion, robot control
Journal
4
Issue
ISSN
Citations 
4
2377-3766
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Dragomir N. Nenchev137246.71
Akinori Miyata200.34
Sho Miyahara311.50
Takehide Hamano400.34