An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
复制标题
一种开放式力矩控制模块化机器人体系结构的腿式运动研究
DOI：
10.1109/lra.2020.2976639
复制
发表时间：
2020-04-01
影响因子：
5.2
通讯作者：
Righetti, Ludovic
中科院分区：
文献类型：
--
作者：
Grimminger, Felix;Meduri, Avadesh;Righetti, Ludovic
我们提出了一种新的开源扭矩控制腿式机器人系统，其核心是一个低成本和低复杂度的执行器模块。它由一个高扭矩无刷直流电机和一个低齿轮比传输适合阻抗和力控制。我们还提出了一种新的脚接触传感器适用于腿部运动与硬冲击。一个2.2公斤的四足机器人与大范围的运动是由八个相同的致动器模块和四个小腿脚接触传感器组装。利用标准的塑料3D打印和现成的零件，可以制造出重量轻、价格便宜的机器人，从而可以在研究界快速分发和复制。我们系统地表征了在静态和动态情况下在脚上实现的阻抗，并测量了最大无量纲腿部刚度为10.8，没有主动阻尼，这是一个跑步的人的腿部刚度。最后，为了证明四足动物的能力，我们提出了一种新的控制器，它结合了前馈接触力计算从一个kino-dynamic优化与阻抗控制的质心和基地的方向。该控制器可以调节复杂的运动，同时对环境的不确定性具有鲁棒性。
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor and a low-gear-ratio transmission suitable for impedance and force control. We also present a novel foot contact sensor suitable for legged locomotion with hard impacts. A 2.2 kg quadruped robot with a large range of motion is assembled from eight identical actuator modules and four lower legs with foot contact sensors. Leveraging standard plastic 3D printing and off-the-shelf parts results in a lightweight and inexpensive robot, allowing for rapid distribution and duplication within the research community. We systematically characterize the achieved impedance at the foot in both static and dynamic scenarios, and measure a maximum dimensionless leg stiffness of 10.8 without active damping, which is comparable to the leg stiffness of a running human. Finally, to demonstrate the capabilities of the quadruped, we present a novel controller which combines feedforward contact forces computed from a kino-dynamic optimizer with impedance control of the center of mass and base orientation. The controller can regulate complex motions while being robust to environmental uncertainty.