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Á¦¸ñ Çѱ¹·Îº¿ÇÐȸ ´º½º·¹ÅÍ 6¿ùÈ£ [ 2020. Vol. 2 ]
ÀÛ¼ºÀÚ °ü¸®ÀÚ µî·ÏÀÏ 2020-06-30
À̸ÞÀÏ kros@kros.org
Çѱ¹·Îº¿ÇÐȸ ´º½º·¹ÅÍ 6¿ùÈ£ [ 2020. Vol. 2 ]

Çѱ¹·Îº¿ÇÐȸ ´º½º·¹ÅÍ 6¿ùÈ£ [ 2020. Vol. 2 ]
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< Torque-based whole-body control > ¼­¿ï´ëÇб³ ÀÌÈ£»ó ¹Ú»ç°úÁ¤, Á¤Àç¼® ¹Ú»ç°úÁ¤, ¹ÚÀçÈï ±³¼ö
  • Whole-body controlÀº ÈÞ¸Ó³ëÀ̵å, 4Á· ·Îº¿°ú °°Àº ´Ù°üÀý ·Îº¿ÀÇ Àü½Å °üÀýÀ» ÀÌ¿ëÇØ multiple tasks¸¦ µ¿½Ã¿¡ Á¦¾îÇÏ´Â °ÍÀ» ÀǹÌÇÔ.
  1. Operational space formulation (OSF) ±â¹ÝÀÇ Àü½Å Á¦¾î
    • -ÀÛ¾÷ °ø°£ Á¦¾î¿¡¼­ °¡Àå ¿À·¡µÇ°í ³Î¸® ¾Ë·ÁÁø ¹æ¹ýÀ¸·Î, ·Îº¿ ¸ðµ¨ Á¤º¸·ÎºÎÅÍ ¿ªµ¿¿ªÇÐÀ» Ç®¾î ÀÛ¾÷ ¼öÇà¿¡ ÇÊ¿äÇÑ °üÀý ÅäÅ© ¼Ö·ç¼ÇÀ» °è»êÇÔ. Null-space projectionÀ» ÀÌ¿ëÇØ ¿©·¯ task°£ÀÇ hierarchy¸¦ ±¸ÇöÇÏ°í ·Îº¿ÀÇ redundancy¸¦ resolveÇÒ ¼ö ÀÖÀ½.
    • - ÃʱâÀÇ OSF´Â ¾Æ·¡ ³í¹® [1]¿¡¼­ base°¡ °íÁ¤µÈ manipulator¿¡ ´ëÇØ À¯µµµÇ¾úÀ¸³ª, ±× ÈÄ ³í¹®[2]¿¡¼­ humanoid¿Í °°ÀÌ base°¡ ¿òÁ÷ÀÌ´Â ·Îº¿¿¡ ´ëÇØ¼­µµ Àû¿ë °¡´ÉÇϵµ·Ï È®ÀåµÊ.
      • [1] Khatib, Oussama. "A unified approach for motion and force control of robot manipulators: The operational space formulation." IEEE Journal on Robotics and Automation 3.1 (1987): 43-53.
      • [2] Park, Jaeheung, and Oussama Khatib. "Contact consistent control framework for humanoid robots." Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006. IEEE, 2006.
    • - ±âÁ¸ OSF ±â¹ÝÀÇ ¹æ¹ýÀº ¿ªµ¿¿ªÇÐÀ¸·Î ÅäÅ© ¼Ö·ç¼ÇÀ» °è»êÇÒ ¶§ analyticÇÑ ¹æ¹ýÀ» ¸¹ÀÌ »ç¿ëÇÏ¿´À½(³í¹® [1]°ú [2]). ÀÌ´Â °è»êÀÌ ºñ±³Àû ºü¸£°í ¼Ö·ç¼ÇÀÌ ºÐ¸íÇÑ Àǹ̸¦ Áö´Ï±â ¶§¹®ÀÓ. ±×·¯³ª ·Îº¿ ÁöÁöºÎÀÇ Á¢ÃË·Â ¹üÀ§, ÅäÅ© limit µî ´Ù¾çÇÑ inequality constraints¸¦ ¹Ý¿µÇϱ⠾î·Á¿î ´ÜÁ¡µµ Àֱ⠶§¹®¿¡ ÃÖ±Ù¿¡´Â OSF¿¡ ºÎºÐÀûÀ¸·Î quadratic programming (QP)À» µµÀÔÇØ numericalÇÑ ¼Ö·ç¼Ç °è»êµµ ½ÃµµµÇ°í ÀÖÀ½(³í¹® [3]).
      • [3] Lee, Yisoo, Nikos Tsagarakis, and Jinoh Lee. "Agile Standing-up Control of Humanoids: Energy-based Reactive Contact Wrench Optimization with Strict Dynamic Consistency." 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2019.
  2. Passivity ±â¹ÝÀÇ Àü½Å Á¦¾î
    • - OSF¿Í À¯»çÇÑ ¹æ¹ýÀ¸·Î, ÀÛ¾÷ °ø°£ÀÇ ¿ªµ¿¿ªÇÐÀ» Ç®¾î ÅäÅ© ¼Ö·ç¼ÇÀ» °è»êÇÏ´Â ¿ø¸®´Â µ¿ÀÏÇϳª Çǵå¹é Á¦¾î±â¸¦ ±¸ÇöÇÒ ¶§ Lyapunov function¿¡ ÀÇÇÑ stability°¡ º¸ÀåµÇµµ·Ï ÀÛ¾÷ °ø°£ ÀÓÇÇ´ø½º¸¦ ±¸¼ºÇÔ.
      • [4] Henze, Bernd, Máximo A. Roa, and Christian Ott. "Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios." The International Journal of Robotics Research 35.12 (2016): 1522-1543.
  3. QP ±â¹ÝÀÇ Àü½Å Á¦¾î
    • - ¸ñÇ¥ ÀÛ¾÷À» ¼öÇàÇϱâ À§ÇÑ °üÀý ÅäÅ© ¼Ö·ç¼ÇÀ» QP¸¦ ÀÌ¿ëÇØ numericalÇÏ°Ô °è»êÇÏ´Â ¹æ¹ý. ÀÛ¾÷ °ø°£ÀÇ µ¿¿ªÇÐ ½Ä(OSF)À» À¯µµÇÏÁö ¾Ê°í °üÀý °ø°£ ¶Ç´Â centroidal µ¿¿ªÇÐ ½Ä°ú kinematic Á¤º¸¸¸À» ÀÌ¿ëÇØ ÀÛ¾÷ ¼öÇà¿¡ ÇÊ¿äÇÑ ÅäÅ© ¼Ö·ç¼ÇÀ» °è»êÇÔ. º¹ÀâÇÑ OSF¸¦ °è»êÇÏÁö ¾Ê¾Æµµ µÇ°í inequality constraints¸¦ ½±°Ô ¹Ý¿µÇÒ ¼ö ÀÖ´Â °ÍÀÌ ÀåÁ¡À̳ª, °è»êÀÌ analyticÇÑ ¹æ¹ý¿¡ ºñÇØ ´À¸®°í °æ°èÁ¶°Ç ±Ùó¿¡¼­ ¼Ö·ç¼ÇÀÌ Áøµ¿ÇÒ ¼ö ÀÖ´Â ´ÜÁ¡ÀÌ ÀÖÀ½. ¶Ç cost function¿¡ µû¶ó ¼Ö·ç¼ÇÀÇ Àǹ̸¦ Á¤È®È÷ ¸ð¸¦ ¼ö ÀÖÀ½.
      • [5] Righetti, Ludovic, et al. "Optimal distribution of contact forces with inverse-dynamics control." The International Journal of Robotics Research 32.3 (2013): 280-298.
      • [6] Koolen, Twan, et al. "Design of a momentum-based control framework and application to the humanoid robot atlas." International Journal of Humanoid Robotics 13.01 (2016): 1650007.
    • - °èÃþ ±¸Á¶ÀÇ multi-task¸¦ Á¦¾îÇÒ ¶§ taskÀÇ null-space projectionÀ» »ç¿ëÇÏ´Â OSF¿Í´Â ´Þ¸® QP ±â¹ÝÀÇ ¹æ¹ýÀº cascade ±¸Á¶¸¦ ÀÌ¿ëÇØ °¢ task ·¹º§ º°·Î QP¸¦ ¿©·¯ ¹ø Ç®¾î¾ß ÇÔ. ÀÌ´Â ¾Æ·¡ ³í¹®ÀÇ hierarchical quadratic programming (HQP)¿¡ Àß ³ªÅ¸³ª ÀÖÀ½.
      • [7] Escande, Adrien, Nicolas Mansard, and Pierre-Brice Wieber. "Hierarchical quadratic programming: Fast online humanoid-robot motion generation." The International Journal of Robotics Research 33.7 (2014): 1006-1028.
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