Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Using Linearized ZMP Constraints
Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Using Linearized ZMP Constraints
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DOI：
10.1109/lra.2019.2896721
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发表时间：
2019-01
影响因子：
5.2
通讯作者：
Yvain de Viragh;Marko Bjelonic;Dario Bellicoso;Fabian Jenelten;Marco Hutter
中科院分区：
文献类型：
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作者：
Yvain de Viragh;Marko Bjelonic;Dario Bellicoso;Fabian Jenelten;Marco Hutter
提出了一种带驱动轮的四足机器人轨迹优化算法。通过求解的角度，垂直和平面组件的基础和脚的轨迹在级联的方式，并通过引入一种新的线性制剂的零力矩点平衡标准，我们只依赖于二次规划，从而消除了非线性优化程序的需要。然而，即使对于包含完整飞行阶段的步态，我们也能够生成用于执行复杂运动的轨迹，这些复杂运动涉及同时驾驶，行走和转弯。我们验证了我们的方法在模拟四足机器人ANYmal配备了车轮，在那里我们能够运行建议的轨迹优化器在50赫兹。据我们所知，这是第一次，这样的动态运动证明轮腿四足机器人使用在线运动规划。
We present a trajectory optimizer for quadrupedal robots with actuated wheels. By solving for angular, vertical, and planar components of the base and feet trajectories in a cascaded fashion and by introducing a novel linear formulation of the zero-moment point balance criterion, we rely on quadratic programming only, thereby eliminating the need for nonlinear optimization routines. Yet, even for gaits containing full flight phases, we are able to generate trajectories for executing complex motions that involve simultaneous driving, walking, and turning. We verified our approach in simulations of the quadrupedal robot ANYmal equipped with wheels, where we are able to run the proposed trajectory optimizer at 50 Hz. To the best of our knowledge, this is the first time that such dynamic motions are demonstrated for wheeled-legged quadrupedal robots using an online motion planner.