Balance Control via Adjusting CoM and CoP Reference Trajectories

• Main Authors: Yu, Chih-Hsiang, 游智翔
• Other Authors: Lin, Wen-Chieh
• Format: Others
• Language: en_US
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/34039623888349977730

碩士 === 國立交通大學 === 多媒體工程研究所 === 100 === In this thesis, we present an approach for simulated characters to perform specific motions. Using a momentum-based technique, our controller can maintain a simulated character's balance by controlling the character's center of mass (CoM) and center of pressure (CoP). In order to control the CoM and the CoP, the controller needs to follow reference trajectories of the CoM and the CoP. Based on the ground reaction forces, we propose a novel method to dynamically adjust the reference CoM for generating physically plausible and natural motions. In addition, due to lack of information about the CoP in reference motions, we determine the reference CoP according to the adjusted reference CoM by considering the moment of force acting at the supporting ankle joint. Our multi-objective optimization technique, including momentum and tracking objective terms, solves the optimal joint velocities for the next time step. Given a motion capture or key-frame data, our controller can maintain the full-body balance in presence of disturbances while tracking a specific motion simultaneously. We demonstrate our results that our control scheme is capable of standing and locomotion simulation in varying environments.