Kinematic control and posture optimization of a redundantly actuated quadruped robot
Kinematic control and posture optimization of a redundantly actuated quadruped robot
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DOI：
10.1109/icra.2012.6224927
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发表时间：
2012-05
期刊：
影响因子：
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通讯作者：
Travis Thomson;I. Sharf;Korhan Türker;Hashim Mazhar;Chris Prahacs
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文献类型：
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作者：
Travis Thomson;I. Sharf;Korhan Türker;Hashim Mazhar;Chris Prahacs
虽然机器人的腿部运动研究已经有很多年了，但自主轮腿机器人的研究才刚刚起步。这种类型的机器人，也被描述为混合动力，可以利用轮式移动的能源效率，同时在必要时适应更困难的地形和腿部移动。由加拿大萨菲尔德国防研发中心的工程师开发的微型液压工具包(MHT)就是这种机器人的一个很好的例子。对MHT控制和优化技术的研究有助于更好地理解用于陆地探测和侦察的混合动力车辆控制。在过去的十年里，几位研究人员对混合机器人的控制进行了研究。本文所采用的方法使用了先前为混合动力机器人Hylos开发的逆运动学算法，并实施了一种优化技术来最小化关键执行器处发生的扭矩。此外，在控制方法中加入了一些附加功能，以实现步进机动。本文将给出利用MatLab的Simulink和LMS虚拟实验室中的高保真MHT模型进行联合仿真的结果。
Although legged locomotion for robots has been studied for many years, the research of autonomous wheellegged robotics is much more recent. Robots of this type, also described as hybrid, can take advantage of the energy efficiency of wheeled locomotion while adapting to more difficult terrain with legged locomotion when necessary. The Micro Hydraulic Toolkit (MHT), developed by engineers at Defence R&D Canada - Suffield, is a good example of such a robot. Investigation into control and optimization techniques for MHT leads to a better understanding of hybrid vehicle control for terrestrial exploration and reconnaissance. Control of hybrid robots has been studied by several researchers during the last decade. The methodology applied in this work uses an inverse kinematics algorithm developed previously for a hybrid robot Hylos, and implements an optimization technique to minimize torques occurring at crucial actuators. As well, some added functionality is incorporated into the control method to implement stepping maneuvers. This paper will present the results obtained via co-simulation using Matlab's Simulink and a high-fidelity model of MHT in LMS Virtual Lab.