Whole-body locomotion and posture control on a torque-controlled hydraulic rover
Whole-body locomotion and posture control on a torque-controlled hydraulic rover
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扭矩控制液压流动站的全身运动和姿态控制
DOI：
10.1109/lra.2019.2926661
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发表时间：
2019
影响因子：
5.2
通讯作者：
M.
中科院分区：
文献类型：
--
作者：
Hyon;S.;Ida;Y.;Ishikawa;J. and Hiraoka;M.
这封信介绍了一种四足、四轮驱动的液压动力漫游者的控制方法和系统，这种漫游者可以在携带操纵器和其他工具进行重型工作的同时穿越不规则的地形，如农业或森林景观。火星车在腿的顶端装有驱动轮，在膝盖或腹部底部装有被动轮。利用液压作动器直接控制整个关节的转矩，使其滚动接触点处的多个接触力根据漫游车的状态进行最优分配。这使得在主动/被动车轮适应地形的同时，可以控制月球车重心的加速度和姿态。所提出的控制方法应用于我们的新型全扭矩控制探测车，该探测车由低成本液压元件制成。在移动地面和斜坡上的平衡仿真和实验验证了算法和系统的有效性。
This letter presents the control method and system of a four-legged, four-wheel-drive hydraulic powered rover that can traverse irregular terrain such as agricultural or forest landscapes while carrying manipulators and other tools to do heavy-duty work. The rover is equipped with driving wheels at the tip of its legs and passive wheels at its knees or the bottom of its belly. By directly controlling the whole-body joint torque using hydraulic actuators, the multiple contact forces at its rolling contact points can be distributed optimally according to the rover state. This allows the acceleration of the rover's center of gravity and posture to be controlled while the active/passive wheels accommodate the terrain. The proposed control method is applied to our new fully torque-controlled rovers produced from low-cost hydraulic components. The simulation and experiments on balancing on moving ground, or running over slopes validates the proposed algorithm and the system.