Muñoz Jorge, de Santos-Rico Raúl, Mena Lisbeth, Monje Concepción A
Center for Automation and Robotics, Spanish National Research Council (CSIC), 28049 Madrid, Spain.
Department of Systems Engineering and Automation, Carlos III University of Madrid, 28903 Madrid, Spain.
Biomimetics (Basel). 2024 Apr 7;9(4):219. doi: 10.3390/biomimetics9040219.
In this paper, a new approach for head camera stabilization of a humanoid robot head is proposed, based on a bio-inspired soft neck. During walking, the sensors located on the humanoid's head (cameras or inertial measurement units) show disturbances caused by the torso inclination changes inherent to this process. This is currently solved by a software correction of the measurement, or by a mechanical correction by motion cancellation. Instead, we propose a novel mechanical correction, based on strategies observed in different animals, by means of a soft neck, which is used to provide more natural and compliant head movements. Since the neck presents a complex kinematic model and nonlinear behavior due to its soft nature, the approach requires a robust control solution. Two different control approaches are addressed: a classical PID controller and a fractional order controller. For the validation of the control approaches, an extensive set of experiments is performed, including real movements of the humanoid, different head loading conditions or transient disturbances. The results show the superiority of the fractional order control approach, which provides higher robustness and performance.
本文提出了一种基于仿生软颈的人形机器人头部摄像头稳定新方法。在行走过程中，位于人形机器人头部的传感器（摄像头或惯性测量单元）会显示出由该过程中固有的躯干倾斜变化引起的干扰。目前，这一问题通过测量的软件校正或通过运动抵消的机械校正来解决。相反，我们基于在不同动物中观察到的策略，提出了一种新颖的机械校正方法，借助软颈来提供更自然和柔顺的头部运动。由于颈部因其柔软特性呈现出复杂的运动学模型和非线性行为，该方法需要一种鲁棒的控制解决方案。文中探讨了两种不同的控制方法：经典的PID控制器和分数阶控制器。为了验证控制方法，进行了一系列广泛的实验，包括人形机器人的实际运动、不同的头部负载条件或瞬态干扰。结果表明分数阶控制方法具有优越性，它提供了更高的鲁棒性和性能。
