Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization
Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization
复制标题
通过多接触优化对球进行动态腿操纵
DOI：
10.1109/iros45743.2020.9341218
复制
发表时间：
2020
期刊：
影响因子：
--
通讯作者：
K. Sreenath
中科院分区：
文献类型：
--
作者：
Chenyu Yang;Bike Zhang;Jun Zeng;Ayush Agrawal;K. Sreenath
机器人的脚通常用于设计运动策略，例如平衡、行走和跑步。然而，它们也具有执行操纵任务的巨大潜力。在本文中，我们提出了一种模型预测控制（MPC）框架，用于四足机器人在球上动态平衡，并同时操纵它遵循各种轨迹，例如直线、正弦曲线、圆形和原地转弯。我们使用不同的步态（包括小跑、弹跳和在球上前冲）对 Mini Cheetah 机器人上的控制器进行数值验证。
The feet of robots are typically used to design locomotion strategies, such as balancing, walking, and running. However, they also have great potential to perform manipulation tasks. In this paper, we propose a model predictive control (MPC) framework for a quadrupedal robot to dynamically balance on a ball and simultaneously manipulate it to follow various trajectories such as straight lines, sinusoids, circles and in-place turning. We numerically validate our controller on the Mini Cheetah robot using different gaits including trotting, bounding, and pronking on the ball.