車輪跳躍ハイブリッドロボットのモデリングと制御
Modeling and Control of a Hybrid Wheeled Jumping Robot
伸縮関節を備えた車輪ロボットの簡易テンプレートモデルを解析的に導出し、モデル予測制御で障害物跳躍や起き上がり動作を最適化により実現した研究。
著者: Traiko Dinev, Songyan Xin, Wolfgang Merkt, Vladimir Ivan, Sethu Vijayakumar
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright position after the loss of balance. We propose a template model for the class of such two-wheeled jumping robots. This model can be considered as the simplest wheeled-legged system. We provide an analytical derivation of the system dynamics which we use inside a model predictive controller (MPC). We study the behavior of the model and demonstrate highly dynamic motions such as swing-up and jumping. Furthermore, these motions are discovered through optimization from first principles. We evaluate the controller on a variety of tasks and uneven terrains in a simulator.
