Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics
🤖 AI Summary
To address the high computational complexity of whole-body control for high-degree-of-freedom humanoid robots, this paper proposes an efficient centroidal-dynamics-based whole-body control method. The core innovation lies in explicitly embedding centroidal dynamics into a simplified whole-body dynamical model, achieved through floating-base model reduction and kinematic chain partitioning—thereby decoupling constrained and unconstrained chains computationally—and establishing a hierarchical optimization control framework. This approach overcomes the superlinear computational complexity growth with respect to degrees of freedom inherent in conventional algorithms, significantly reducing overall computational cost. Simulation results demonstrate that the proposed method reduces execution time by over 50% compared to state-of-the-art approaches, with acceleration ratios increasing markedly as the number of degrees of freedom grows. The method thus provides a scalable theoretical and practical foundation for real-time whole-body control of complex humanoid systems.
Application Category
📝 Abstract
In this study, we present a novel method for enhancing the computational efficiency of whole-body control for humanoid robots, a challenge accentuated by their high degrees of freedom. The reduced-dimension rigid body dynamics of a floating base robot is constructed by segmenting its kinematic chain into constrained and unconstrained chains, simplifying the dynamics of the unconstrained chain through the centroidal dynamics. The proposed dynamics model is possible to be applied to whole-body control methods, allowing the problem to be divided into two parts for more efficient computation. The efficiency of the framework is demonstrated by comparative experiments in simulations. The calculation results demonstrate a significant reduction in processing time, highlighting an improvement over the times reported in current methodologies. Additionally, the results also shows the computational efficiency increases as the degrees of freedom of robot model increases.
Problem
Research questions and friction points this paper is trying to address.
Efficient Control
Humanoid Robots
Computational Simplification
Innovation
Methods, ideas, or system contributions that make the work stand out.
Centroidal Dynamics
Efficient Control Strategy
Humanoid Robots
🔎 Similar Papers
No similar papers found.
