トルク飽和を考慮したCLFベース二次計画法による二足歩行制御
Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs
二足ロボットの歩行制御において、トルク飽和などの制約を凸最適化で直接扱うCLFベースの手法を提案し、MABELで実験検証した。
著者: Kevin Galloway, Koushil Sreenath, Aaron D. Ames, J. W. Grizzle
分類: eess.SY, cs.RO, cs.SY, math.OC
原文アブストラクト
This paper presents a novel method for directly incorporating user-defined control input saturations into the calculation of a control Lyapunov function (CLF)-based walking controller for a biped robot. Previous work by the authors has demonstrated the effectiveness of CLF controllers for stabilizing periodic gaits for biped walkers, and the current work expands on those results by providing a more effective means for handling control saturations. The new approach, based on a convex optimization routine running at a 1 kHz control update rate, is useful not only for handling torque saturations but also for incorporating a whole family of user-defined constraints into the online computation of a CLF controller. The paper concludes with an experimental implementation of the main results on the bipedal robot MABEL.
