Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12
Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12
复制标题
为新型开放硬件四足 Solo-12 实现反应式行走控制器
DOI：
--
复制
发表时间：
2021
期刊：
影响因子：
--
通讯作者：
P. Souéres
中科院分区：
文献类型：
--
作者：
Pierre;T. Flayols;F. Grimminger;N. Mansard;P. Souéres
本文旨在展示在开放动态机器人倡议框架下开发的低成本、开放存取的四足机器人Solo-12的动态性能和可靠性。它实现了一种最先进的控制管道，与之前在Mini Cheetah上实现的管道非常接近，它实现了基于质心动力学的模型预测控制器，以计算所需的接触力，从而跟踪参考速度。提出了不同的贡献，以加快计算过程，特别是在状态估计和全身控制器的水平。实验结果表明，该机器人在高度反应性的同时，能严格遵循参考速度，并能从扰动中恢复。
This paper aims at showing the dynamic performance and reliability of the low-cost, open-access quadruped robot Solo-12, which is developed within the framework of Open Dynamic Robot Initiative. It presents the implementation of a state-of-the-art control pipeline, close to the one that was previously implemented on Mini Cheetah, which implements a model predictive controller based on the centroidal dynamics to compute desired contact forces in order to track a reference velocity. Different contributions are proposed to speed up the computation process, notably at the level of the state estimation and the whole body controller. Experimental results demonstrate that the robot closely follow the reference velocity while being highly reactive and able to recover from perturbations.
学习腿部运动的质心运动规划器
DOI：
10.1109/icra48506.2021.9562022
发表时间：
2021
期刊：
2021 IEEE-RAS International Conference on Robotics and Automation (ICRA
影响因子：
--
作者：
Viereck, Julian;Righetti, Ludovic
通讯作者：
Righetti, Ludovic
影响因子：
5.2
作者：
Grimminger, Felix;Meduri, Avadesh;Righetti, Ludovic
通讯作者：
Righetti, Ludovic