Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot
Online Trajectory Optimization for Dynamic Aerial Motions of a Quadruped Robot
复制标题
四足机器人动态空中运动的在线轨迹优化
DOI：
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
Sangbae Kim
中科院分区：
文献类型：
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作者：
Matthew Chignoli;Sangbae Kim
这项工作提出了一个由两部分组成的框架，用于在线规划和执行四足机器人的动态空中运动。通过基于质心动量的非线性优化来规划运动，该优化通常足以产生丰富的新颖动态运动集，该运动集仅基于用户指定的接触计划和期望的机器人发射速度。由于这种非线性优化不适用于实时后退地平线控制，因此在准备空中运动时，通过非线性优化一次性规划运动，然后使用基于变分的最优控制器进行连续跟踪，该控制器对存在于实际硬件中的不确定性（如建模误差或干扰）提供鲁棒性。运动规划通常需要0.05-0.15秒，而最优控制器在500 Hz时找到稳定的反馈输入。麻省理工学院迷你猎豹的实验结果表明，该框架可以可靠地产生成功的空中运动，如跳上跳下平台、旋转、翻转、桶滚和跨越障碍物。
This work presents a two part framework for online planning and execution of dynamic aerial motions on a quadruped robot. Motions are planned via a centroidal momentum-based nonlinear optimization that is general enough to produce rich sets of novel dynamic motions based solely on the user-specified contact schedule and desired launch velocity of the robot. Since this nonlinear optimization is not tractable for real-time receding horizon control, motions are planned once via nonlinear optimization in preparation of an aerial motion and then tracked continuously using a variational-based optimal controller that offers robustness to the uncertainties that exist in the real hardware such as modeling error or disturbances. Motion planning typically takes between 0.05-0.15 s, while the optimal controller finds stabilizing feedback inputs at 500 Hz. Experimental results on the MIT Mini Cheetah demonstrate that the framework can reliably produce successful aerial motions such as jumps onto and off of platforms, spins, flips, barrel rolls, and running jumps over obstacles.
动态四足动物欠驱动平衡的变分优化控制
影响因子：
3.9
作者：
Chignoli, Matthew;Wensing, Patrick M.
通讯作者：
Wensing, Patrick M.