Task-space Whole-body Control with Variable Contact Force Control for Position-controlled Humanoid Adaptation to Unknown Disturbance

作     者：Zelin Huang Chencheng Dong Zhangguo Yu Xuechao Chen Fei Meng Qiang Huang Zelin Huang;Chencheng Dong;Zhangguo Yu;Xuechao Chen;Fei Meng;Qiang Huang

作者机构：School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing100081China Key Laboratory of Biomimetic Robots and SystemsMinistry of EducationBeijing100081China 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2023年第20卷第5期

页      面：2069-2087页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 081104[工学-模式识别与智能系统] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0835[工学-软件工程] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：This work was supported in part by the National Natural Science Foundation of China under Grant 62073041 and 61973039 in part by the Beijing Municipal Science and Technology Project under Grant Z221100000222013 in part by the“111”Project under Grant B08043 

主　　题：Whole-body control Contact force Admittance control Humanoid robot 

摘      要：Whole-body control is beneficial for improving the disturbance adaptation of humanoid robots,since it can simultaneously optimize desired joint torque,joint acceleration,and contact force while considering whole-body dynamics and other physical ***,the lack of torque feedback information prevents the position-controlled humanoids from utilizing whole-body control directly,because it enhances the difficulty of guaranteeing desired contact force which is important for maintaining *** this paper,a whole-body control that integrates task-space inverse dynamics and variable contact force control is proposed for position-controlled humanoids to enhance the robot’s adaptability toward the unknown *** task-space inverse dynamics generates the desired joint acceleration and contact force with the consideration of whole-body dynamics and other limits to track the *** variable contact force control modifies references related to Center of Mass(CoM)and end effectors to ensure reasonable contact force tracking performance,thereby assuring good tracking performance of CoM and momentum to maintain robot *** and experiments of balancing and walking under unknown disturbance have been successfully conducted on a position-controlled humanoid robot,BHR-7P3,with the proposed method.