Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs
Towards the Unification of Locomotion and Manipulation through Control Lyapunov Functions and Quadratic Programs
复制标题
通过控制李亚普诺夫函数和二次规划实现运动和操纵的统一
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
Matthew J. Powell
中科院分区：
文献类型：
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作者：
A. Ames;Matthew J. Powell
本文介绍了统一运动控制器和算法与全身控制和操纵的第一步。这种统一的理论框架将给出基于二次规划利用控制李雅普诺夫函数。特别是，我们将首先考虑基于输出的反馈线性化策略的运动与全身控制方法的操作。我们将通过控制器的正确选择证明这两种传统的不相交方法是等价的。然后，我们将提出一种方法，统一这两种方法，通过使用控制李雅普诺夫函数的形式提出了一个二次规划。此外，它将表明，这些控制器可以结合基于力的控制，以实现运动和基于力的操纵在一个单一的框架。最后，仿真结果将证明所提出的框架的有效性。
This paper presents the first steps toward unifying locomotion controllers and algorithms with whole-body control and manipulation. A theoretical framework for this unification will be given based upon quadratic programs utilizing control Lyapunov functions. In particular, we will first consider output based feedback linearization strategies for locomotion together with whole-body control methods for manipulation. We will show that these two traditionally disjoint methods are equivalent through the correct choice of controller. We will then present a method for unifying these two methodologies through the use of control Lyapunov functions presented in the form of a quadratic program. In addition, it will be shown that these controllers can be combined with force-based control to achieve locomotion and force-based manipulation in a single framework. Finally, simulation results will be presented demonstrating the validity of the proposed framework.