CompliantWBC: 力潜在推定と残差インピーダンス目標による重量ヒューマノイドの全身コンプライアンス制御
CompliantWBC: Whole-Body Compliance for Heavy Humanoids via Force Latent Estimation and Residual Impedance Targets
重量ヒューマノイドが任意部位への外力に柔軟に応じるため、全身インピーダンス参照と力推定・残差補正を組み合わせた強化学習制御手法を提案し、実機で荷物運搬や拭き掃除などを実現した。
著者: Tan-Dzung Do, Cuc T. Trinh, Tuan Dat Phuong, Chien Le, Thanh Ly, Vien Anh Ngo, An Thai Le
分類: cs.RO
原文アブストラクト
Whole-body compliant control is essential for deploying heavy humanoids under high payload in human-centric environments. Most prior force-aware learning-based pipelines focus on end-effector resistance, per-link upper-body springs, or end-effector stiffness modulation, leaving arbitrary-site perturbations on heavy platforms with lower-body engagement largely unaddressed. We close this gap with CompliantWBC comprising: (1) A base policy trained with RL to maximize compliance-fidelity reward, guided by a multi-site whole-body impedance reference controller, extending classical Cartesian impedance to any controlled link; (2) A bounded residual policy that edits the per-link impedance equilibrium over a frozen base, correcting the coarse but structured wrench estimate supplied by a force encoder co-trained behind a gradient barrier; (3) A Phong-weighted force-origin sampler with an axis-decoupled pelvis anchor induces lower-body-inclusive compliance curriculum training via two interpretable parameters. We evaluate CompliantWBC in simulation against both compliant and stiff baselines, achieving best compliant fidelity of 2.58cm deviation from analytical solutions, and demonstrate it on a real heavy humanoid across static/dynamic force reaction, board wiping, squat under payload, and cooperative payload transport. Project website: https://dotandung.github.io/compliantwbc/