Quadratic Programming for Multirobot and Task-Space Force Control
Quadratic Programming for Multirobot and Task-Space Force Control
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DOI：
10.1109/tro.2018.2876782
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发表时间：
2019-02-01
影响因子：
7.8
通讯作者：
Kheddar, Abderrahmane
中科院分区：
文献类型：
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作者：
Bouyarmane, Karim;Chappellet, Kevin;Kheddar, Abderrahmane
我们将编写为二次规划(QPS)的任务空间多目标控制器扩展为单集中控制来处理多机器人系统。这个想法是把所有的“机器人”模型和它们的交互任务约束组合成一个单一的QP公式。所谓多机器人，我们指的是给定的机器人将与任何实体(固体或关节系统，驱动的，部分的或根本没有，固定基础或浮动基础)交互，我们将它们建模为机器人集群，控制器以物理上一致的方式计算作为整体系统的每个集群的状态及其相互作用力。通过这样做，任务规范大大简化了。系统之间相互作用的核心是接触力；我们的多机器人QP控制器提供了实现可靠的力跟踪的方法。该方法是通过在真实复杂的机器人平台(全尺寸类人机器人、灵巧机器人手、固定基座拟人手臂)上进行全身操作、灵巧操作以及机器人与机器人对刚性漂浮物和关节机构(如门、抽屉、盒子，甚至更小的机构，如弹力点击笔)的共操来进行评估的。
We have extended the task-space multiobjective controllers that write as quadratic programs (QPs) to handle multirobot systems as a single centralized control. The idea is to assemble all the "robots" models and their interaction task constraints into a single QP formulation. By multirobot, we mean that whatever entities a given robot will interact with (solid or articulated systems, actuated, partially or not at all, fixed-base or floating-base), we model them as clusters of robots and the controller computes the state of each cluster as an overall system and their interaction forces in a physically consistent way. By doing this, the tasks specification simplifies substantially. At the heart of the interactions between the systems are the contact forces; methodologies are provided to achieve reliable force tracking by our multirobot QP controller. The approach is assessed by a large panel of experiments on real complex robotic platforms (full-size humanoid, dexterous robotic hand, fixed-base anthropomorphic arm) performing whole-body manipulations, dexterous manipulations, and robot-robot comanipulations of rigid floating objects and articulated mechanisms, such as doors, drawers, boxes, or even smaller mechanisms like a spring-loaded click pen.