Variational-Based Optimal Control of Underactuated Balancing for Dynamic Quadrupeds
Variational-Based Optimal Control of Underactuated Balancing for Dynamic Quadrupeds
复制标题
动态四足动物欠驱动平衡的变分优化控制
DOI：
10.1109/access.2020.2980446
复制
发表时间：
2020
期刊：
影响因子：
3.9
通讯作者：
Wensing, Patrick M.
中科院分区：
文献类型：
--
作者：
Chignoli, Matthew;Wensing, Patrick M.
本文提出了一种四足动物平衡的控制策略，能够在欠驱动的接触配置中(例如，当站在两个点脚上时)进行姿势控制。欠驱动平衡在手推车、单摆或肢端机器人等原型控制模型中得到了相当大的关注。然而，当试图将这些解决方案过渡到腿部机器人的平衡时，与摩擦受限接触和配置空间的底层流形结构相关的技术挑战阻碍了直接的应用。本文提出了一种新的平衡控制框架，将约束最优控制策略与最新的基于变分的线性化方法相结合，以解决常见简化四足动物模型的平衡问题。控制器被实现为一个凸二次规划(QP)，它使用无约束最优控制解来逼近摩擦约束最优策略。与最先进的基于QP的平衡控制器不同，该方法能够在欠驱动状态下处理平衡。通过与模型预测控制策略的比较，所提出的公式是高度紧凑的，需要较少的计算，同时仍然显示出处理极端摩擦限制的能力。MIT Mini Cheetah的仿真和硬件结果表明，该控制器能够利用身体角动量恢复双脚上的扰动，并从重心离开支撑多边形的情况下恢复。这些结果和公式的一般性为进一步应用于两足动物和人形动物提供了探索。
This paper presents a control strategy for quadruped balancing that enables postural control in underactuated contact configurations (e.g., when standing on two point feet). Underactuated balancing has received considerable attention with prototype control models such as the cart pendulum or acrobot. Yet, when attempting to transition these solutions to balance in legged robots, technical challenges related to friction-limited contacts and the underlying manifold structure of the configuration space prevent straightforward application. This paper presents a new balance control framework that combines constrained optimal control strategies with recent variational-based linearization approaches to solve the balancing problem for a common simplified quadruped model. The controller is implemented as a convex quadratic program (QP) that uses an unconstrained optimal control solution to approximate a friction-constrained optimal policy. Unlike state-of-the-art QP-based balance controllers, the method is able to handle balance in underactuated regimes. Via comparison to model-predictive control strategies, the proposed formulation is highly compact, requiring less computation, while still showing the ability to handle extreme friction limitations. Simulation and hardware results with the MIT Mini Cheetah demonstrate the capabilities of the controller to exploit body angular momentum for disturbance recovery on two feet, and to recover from cases where the center of mass exits the support polygon. These results and the generality of the formulation suggest exploration for further application to bipeds and humanoids.
影响因子：
7.8
作者：
Juyong Park;Jaeyoung Haan;F. Park
通讯作者：
F. Park
S2 和 SO(3) 上摆动力学鞍平衡的稳定流形
DOI：
--
发表时间：
2011
期刊：
IEEE Conference on Decision and Control and European Control Conference
影响因子：
--
作者：
Taeyoung Lee;M. Leok;N. McClamroch
通讯作者：
N. McClamroch
适用于兼容腿系统的混合操作空间控制
DOI：
--
发表时间：
2012
期刊：
Robotics: Science and Systems
影响因子：
--
作者：
Marco Hutter;M. Höpflinger;Christian Gehring;Michael Blösch;C. Remy;R. Siegwart
通讯作者：
R. Siegwart