柔軟脊椎ロボットの軌道追従制御：参照入力あり・なしの比較
Trajectory Tracking Control of a Flexible Spine Robot, With and Without a Reference Input
四足歩行ロボット向けの柔軟な駆動脊椎（ULTRA Spine）を対象に、モデル予測制御で脊椎の曲げ動作の軌道をシミュレーション上で追従させ、参照入力を用いる制御則と平滑化制約を用いる制御則の2種類を比較した。
著者: Andrew P. Sabelhaus, Shirley Huajing Zhao, Mallory C. Daly, Ellande Tang, Edward Zhu, Abishek K. Akella, Zeerek A. Ahmad, Vytas SunSpiral, Alice M. Agogino
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to develop a flexible, actuated backbone for quadruped robots. In this work, model-predictive control is used to track a trajectory in the robot's state space, in simulation. The state trajectory used here corresponds to a bending motion of the spine, with translations and rotations of the moving vertebrae. Two different controllers are presented in this work: one that does not use a reference input but includes smoothing constrants, and a second one that uses a reference input without smoothing. For the smoothing controller, without reference inputs, the error converges to zero, while the simpler-to-tune controller with an input reference shows small errors but not complete convergence. It is expected that this controller will converge as it is improved further.
