Open motion control architecture for humanoid robots

This Ph.D. thesis contributes to the development of control architecture for robots. It provides a complex study of a control systems design and makes a proposal for generalized open motion control architecture for humanoid robots. Generally speaking, the development of humanoid robots is a very complex engineering and scientific task that requires new approaches in mechanical design, electronics, software engineering and control. First of all, taking into account all these considerations, this thesis tries to answer the question of why we need the development of such robots. Further, it provides a study of the evolution of humanoid robots, as well as an analysis of modern trends. A complex study of motion, that for humanoid robots, means first of all the biped locomotion is addressed. Requirements for the design of open motion control architecture are posed. This work stresses the motion control algorithms for humanoid robots. The implementation of only servo control for some types of robots (especially for walking systems) is not sufficient. Even having stable motion pattern and well tuned joint control, a humanoid robot can fall down while walking. Therefore, these robots need the implementation of another, upper control loop which will provide the stabilization of their motion. This Ph.D. thesis proposes the study of a joint motion control problem and a new solution to walking stability problem for humanoids. A new original walking stabilization controller based on decoupled double inverted pendulum dynamical model is developed. This Ph.D. thesis proposes novel motion control software and hardware architecture for humanoid robots. The main advantage of this architecture is that it was designed by an open systems approach allowing the development of high-quality humanoid robotics platforms that are technologically up-to-date. The Rh-1 prototype of the humanoid robot was constructed and used as a test platform for implementing the concepts described in this Ph.D. thesis. Also, the implementation of walking stabilization control algorithms was made with OpenHRP platform and HRP-2 humanoid robot. The simulations and walking experiments showed favourable results not only in forward walking but also in turning and backwards walking gaits. It proved the applicability and reliability of designed open motion control architecture for humanoid robots. Finally, it should be noted that this Ph.D. thesis considers the motion control system of a humanoid robot as a whole, stresses the entire concept-design-implementation chain and develops basic guidelines for the design of open motion control architecture that can be easily implemented in other biped platforms