接触整合型相互作用ダイナミクス正規化による予測的物理ヒューマンロボットインタラクション
Contact-Consistent Interaction Dynamics Normalization for Predictive Physical Human--Robot Interaction
浮遊ベースロボットの物理的HRIを安全に行うため、接触制約の変化に対応する接触整合型正規化を開発し、加速度座標での線形二重積分器として残差エンドエフェクタチャネルを表現。定ヘッシアンのQPと外乱オブザーバを組み合わせた制御を提案し、二足歩行ロボットとUnitree G1モデルで実験した。
著者: Yongyan Cao
分類: cs.RO, eess.SY
原文アブストラクト
Safe physical human--robot interaction on floating-base robots requires interaction regulation under changing contact constraints. We develop a contact-consistent normalization in which the residual end-effector channel is represented as a linear double integrator in acceleration coordinates. Both discrete prediction matrices are independent of configuration and support mode; posture and contact enter only through task-inertia force recovery and constraints. The controller combines a constant-Hessian receding-horizon QP, an acceleration-disturbance observer, and a priority-consistent realization. Classical operational-space impedance is shown to be the unconstrained infinite-horizon limit. MuJoCo experiments on a 17-DOF biped and a Menagerie-derived Unitree G1 model evaluate sustained forces, transmitted shocks, and scheduled contact-model changes. Disturbance estimation is the dominant source of fixed-stance accuracy, while covariance inflation gives only scenario-dependent transient benefit. Dynamic walking and hardware validation remain outside the present evidence.