Contact-Aware Controller Design for Complementarity Systems
Contact-Aware Controller Design for Complementarity Systems
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DOI：
10.1109/icra40945.2020.9197568
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发表时间：
2019-09
期刊：
影响因子：
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通讯作者：
Alp Aydinoglu;V. Preciado;Michael Posa
中科院分区：
文献类型：
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作者：
Alp Aydinoglu;V. Preciado;Michael Posa
虽然许多机器人任务，如操纵和运动，基本上是基于与环境的接触和断开接触，但最先进的控制策略很难处理多接触运动的混合性质。这种控制器往往严重依赖于动力学，或者由于动力学中的组合结构，不适合实时控制。触觉传感器的原则性部署为稳定和鲁棒的控制提供了一种有前途的机制，但现代方法通常以特别的方式使用这些数据，例如指导防守动作。在这项工作中，通过利用接触动力学的互补结构，我们提出了一个控制框架，可以关闭丰富的，触觉传感器的循环。关键是，这个框架是非组合的，使优化算法自动合成可证明稳定的控制策略。我们证明了这种方法在三个不同的欠驱动，多接触机器人问题。
While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such controllers often rely heavily upon heuristics or, due to the combinatoric structure in the dynamics, are unsuitable for real-time control. Principled deployment of tactile sensors offers a promising mechanism for stable and robust control, but modern approaches often use this data in an ad hoc manner, for instance to guide guarded moves. In this work, by exploiting the complementarity structure of contact dynamics, we propose a control framework which can close the loop on rich, tactile sensors. Critically, this framework is non-combinatoric, enabling optimization algorithms to automatically synthesize provably stable control policies. We demonstrate this approach on three different underactuated, multi-contact robotics problems.