四足歩行ロボットの受動的全身体制御：不整地での実験的検証
Passive Whole-body Control for Quadruped Robots: Experimental Validation over Challenging Terrain
全身の剛体動力学と関節・接触制約を考慮したQPベースの受動的全身体制御を提案し、90kg油圧四足ロボットHyQで不整地や様々な歩容での動的歩行を実験的に検証した。
著者: Shamel Fahmi, Carlos Mastalli, Michele Focchi, Claudio Semini
分類: cs.RO
原文アブストラクト
We present experimental results using a passive whole-body control approach for quadruped robots that achieves dynamic locomotion while compliantly balancing the robot's trunk. We formulate the motion tracking as a Quadratic Program (QP) that takes into account the full robot rigid body dynamics, the actuation limits, the joint limits and the contact interaction. We analyze the controller's robustness against inaccurate friction coefficient estimates and unstable footholds, as well as its capability to redistribute the load as a consequence of enforcing actuation limits. Additionally, we present practical implementation details gained from the experience with the real platform. Extensive experimental trials on the 90 kg Hydraulically actuated Quadruped (HyQ) robot validate the capabilities of this controller under various terrain conditions and gaits. The proposed approach is superior for accurate execution of highly dynamic motions with respect to the current state of the art.
