标题： 类人机器人动量型控制器的稳定性分析与设计 显示英文标题

标题： Stability Analysis and Design of Momentum-based Controllers for Humanoid Robots

摘要： 人形机器人预期的应用需要设计平衡和行走控制器。尽管最近取得了令人鼓舞的结果，但对处理人形机器人问题的控制社区而言，鲁棒且可靠的控制器仍然是一个挑战。基于动量的策略已被证明在控制人形机器人的平衡方面是有效的，但这些控制器的稳定性分析仍处于缺失状态。 本文的贡献是双重的。首先，我们数值展示了应用最先进的基于动量的控制策略可能会导致零动态不稳定。其次，我们提出了对控制架构的简单修改，以避免零动态层面的不稳定性。通过关节空间线性化系统的李雅普诺夫分析，证明了闭环系统的渐近稳定性。理论结果通过iCub人形机器人上的仿真和实验得到了验证。 显示英文摘要

摘要： Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community dealing with humanoid robotics. Momentum-based strategies have proven their effectiveness for controlling humanoids balancing, but the stability analysis of these controllers is still missing. The contribution of this paper is twofold. First, we numerically show that the application of state-of-the-art momentum-based control strategies may lead to unstable zero dynamics. Secondly, we propose simple modifications to the control architecture that avoid instabilities at the zero-dynamics level. Asymptotic stability of the closed loop system is shown by means of a Lyapunov analysis on the linearized system's joint space. The theoretical results are validated with both simulations and experiments on the iCub humanoid robot.