ControlIt！- 一种整体作战空间控制软件框架
ControlIt! - A Software Framework for Whole-Body Operational Space Control
摘要：
全身操作空间控制（WBOSC）是以人为中心的全身控制（WBC）领域的开创性算法。它使浮基高冗余度机器人能够在遵守物理约束的同时实现一个或多个操作空间目标的统一运动/力控制。有限的研究存在的软件架构和API，使WBOSC执行和集成到一个更大的系统。在本文中，我们通过介绍ControlIt！，一个新的WBOSC开源软件框架。与以前的实现不同，ControlIt！是多线程的，以增加标准PC硬件上的伺服频率。新的参数绑定机制使ControlIt！以及经由可扩展的传输协议集的外部进程。为了支持一个新的机器人，只需要提供两个插件和一个URDF模型--ControlIt的其余部分！保持不变。新的WBC原语可以通过编写任务或约束插件来添加。控制它！的能力是证明梦想家，一个16自由度的扭矩控制的人形上身机器人包含两个系列的弹性和共同驱动的关节，并使用它来执行产品拆卸任务。使用这个测试平台，我们表明，ControlIt！当配置有两个笛卡尔位置任务、两个定向任务和较低优先级姿态任务时，可以实现约0.5ms的平均伺服延迟。这明显高于使用UTA-WBC实现的5 ms，UTA-WBC是应用程序和平台特定的WBOSC原型实现。通过更新笛卡尔位置任务的目标来处理产品位置的变化。控制它！的源代码是在LGPL许可下发布的，我们希望它将被WBC社区长期采用和维护，作为WBC开发和集成的平台。
英文摘要：
Whole Body Operational Space Control (WBOSC) is a pioneering algorithm in the field of human-centered Whole-Body Control (WBC). It enables floating-base highly-redundant robots to achieve unified motion/force control of one or more operational space objectives while adhering to physical constraints. Limited studies exist on the software architecture and APIs that enable WBOSC to perform and be integrated into a larger system. In this paper we address this by presenting ControlIt!, a new open-source software framework for WBOSC. Unlike previous implementations, ControlIt! is multi-threaded to increase servo frequencies on standard PC hardware. A new parameter binding mechanism enables tight integration between ControlIt! and external processes via an extensible set of transport protocols. To support a new robot, only two plugins and a URDF model needs to be provided --- the rest of ControlIt! remains unchanged. New WBC primitives can be added by writing a Task or Constraint plugin. ControlIt!'s capabilities are demonstrated on Dreamer, a 16-DOF torque controlled humanoid upper body robot containing both series elastic and co-actuated joints, and using it to perform a product disassembly task. Using this testbed, we show that ControlIt! can achieve average servo latencies of about 0.5ms when configured with two Cartesian position tasks, two orientation tasks, and a lower priority posture task. This is significantly higher than the 5ms that was achieved using UTA-WBC, the prototype implementation of WBOSC that is both application and platform-specific. Variations in the product's position is handled by updating the goal of the Cartesian position task. ControlIt!'s source code is released under an LGPL license and we hope it will be adopted and maintained by the WBC community for the long term as a platform for WBC development and integration.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
