Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain
Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain
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DOI：
10.1109/lra.2019.2908502
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发表时间：
2019-07-01
影响因子：
5.2
通讯作者：
Semini, Claudio
中科院分区：
文献类型：
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作者：
Fahmi, Shamel;Mastalli, Carlos;Semini, Claudio
我们目前的实验结果使用被动全身控制方法的四足机器人，实现动态运动，同时符合平衡机器人的躯干。我们制定的运动跟踪作为一个二次规划，考虑到完整的机器人刚体动力学，驱动限制，关节限制，和接触的相互作用。我们分析了控制器的鲁棒性对不准确的摩擦系数估计和不稳定的立足点，以及它的能力，重新分配负载的结果，强制执行的驱动限制。此外，我们提出了实际的实施细节与真实的平台的经验。在90 kg液压驱动四足机器人上进行了大量的实验，验证了该控制器在各种地形条件和步态下的性能。所提出的方法是上级的精确执行的高度动态的运动相对于目前的技术水平。
We present experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's trunk. We formulate the motion tracking as a quadratic program that takes into account the full robot rigid body dynamics, the actuation limits, the joint limits, and the contact interaction. We analyze the controller's robustness against inaccurate friction coefficient estimates and unstable footholds, as well as its capability to redistribute the load as a consequence of enforcing actuation limits. Additionally, we present practical implementation details gained from the experience with the real platform. Extensive experimental trials on the 90 kg hydraulically actuated quadruped robot validate the capabilities of this controller under various terrain conditions and gaits. The proposed approach is superior for accurate execution of highly dynamic motions with respect to the current state of the art.