Terrain Adaptive Gait Transitioning for a Quadruped Robot using Model Predictive Control
Terrain Adaptive Gait Transitioning for a Quadruped Robot using Model Predictive Control
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DOI：
10.23919/icac50006.2021.9594065
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发表时间：
2021-06
期刊：
影响因子：
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通讯作者：
Prathamesh Saraf;Abhishek Sarkar;A. Javed
中科院分区：
文献类型：
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作者：
Prathamesh Saraf;Abhishek Sarkar;A. Javed
腿式机器人可以穿越具有挑战性的地形，使用感知来规划其安全的立足点位置，并在环境中导航。这种独特的移动能力使这些平台成为搜索和救援，检查和勘探任务等场景的完美候选人。当穿越这样的地形时，机器人的不稳定性是一个重要的问题。很多时候，机器人需要根据环境切换步态。由于四足机器人动力学的复杂性，传统的PID控制无法提供高的稳定性。因此，需要先进的控制方法，如模型预测控制（MPC），其使用系统模型和地形的性质来预测机器人的稳定身体姿势。控制器还提供对导致机器人的期望行为的改变的任何外部干扰的校正。MPC控制器是在MATLAB中设计的，用于全身扭矩控制。在Webots仿真器中的Boston Dynamics Spot上验证了控制器的性能。该机器人能够提供高达150 N的外部扰动校正，并抵抗福尔斯直到80 cm。
Legged robots can traverse challenging terrain, use perception to plan their safe foothold positions, and navigate the environment. Such unique mobility capabilities make these platforms a perfect candidate for scenarios such as search and rescue, inspection, and exploration tasks. While traversing through such terrains, the robot’s instability is a significant concern. Many times the robot needs to switch gaits depending on its environment. Due to the complex dynamics of quadruped robots, classical PID control fails to provide high stability. Thus, there is a need for advanced control methods like the Model Predictive Control (MPC) which uses the system model and the nature of the terrain in order to predict the stable body pose of the robot. The controller also provides correction to any external disturbances that result in a change in the desired behavior of the robot. The MPC controller is designed in MATLAB, for full body torque control. The controller performance was verified on Boston Dynamics Spot in Webots simulator. The robot is able to provide correction for external perturbations up to 150 N and also resist falls till 80 cm.