Controller Design, Analysis, and Experimental Validation of a Robotic Serpentine Tail to Maneuver and Stabilize a Quadrupedal Robot
Controller Design, Analysis, and Experimental Validation of a Robotic Serpentine Tail to Maneuver and Stabilize a Quadrupedal Robot
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用于操纵和稳定四足机器人的机器人蛇尾的控制器设计、分析和实验验证
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发表时间：
2019
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通讯作者：
Pinhas Ben
中科院分区：
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作者：
W. Rone;Wael Saab;Anil Kumar;Pinhas Ben
本文分析了多节、铰接的蛇形尾巴如何提高四足机器人的机动性和稳定性。有腿机器人面临的一个长期挑战是，在为多自由度空间腿生成控制输入时，需要考虑推进、机动和稳定因素。在自然界中，许多动物用尾巴抵消了一些必要的功能，以减少腿部所需的动作。通过在有腿机器人上安装机器人尾巴，可以利用尾巴的重力和惯性载荷来提供机器人的机动性和稳定性，而腿主要提供机器人的推进力。提出了铰接蛇形尾和四足平台的系统设计，以及用于表示这些系统的动态模型。讨论了实现所需机动和稳定行为的外环控制器，以及将所需尾翼轨迹映射到尾翼电机扭矩命令的内环控制器。案例研究显示了机尾在运动（机动）过程中改变偏航角航向的能力，并考虑了在滚转方向上拒绝不稳定的外部干扰（稳定）的能力。结合仿真的四足平台，给出了利用尾翼动力学模型的仿真结果和利用尾翼原型的实验结果。仿真结果验证了系统的操纵和稳定性能，并进行了实验验证。
This paper analyzes how a multisegment, articulated serpentine tail can enhance the maneuvering and stability of a quadrupedal robot. A persistent challenge in legged robots is the need to account for propulsion, maneuvering, and stabilization considerations when generating control inputs for multidegree-of-freedom spatial legs. Looking to nature, many animals offset some of this required functionality to their tails to reduce the required action by their legs. By including a robotic tail on-board a legged robot, the gravitational and inertial loading of the tail can be utilized to provide for the robot's maneuverability and stability, while the legs primarily provide the robot's propulsion. System designs for the articulated serpentine tail and quadrupedal platform are presented, along with the dynamic models used to represent these systems. Outer-loop controllers that implement the desired maneuvering and stabilizing behaviors are discussed, along with an inner-loop controller that maps the desired tail trajectory into motor torque commands for the tail. Case studies showing the tail's ability to modify yaw-angle heading during locomotion (maneuvering) and to reject a destabilizing external disturbance in the roll direction (stabilization) are considered. Simulation results utilizing the tail's dynamic model and experimental results utilizing the tail prototype, in conjunction with the simulated quadrupedal platform, are generated. Successful maneuvering and stabilization are demonstrated by the simulated results and validated through experimentation.