運動学的ループを持つ車輪付き二足ロボットのLQR支援全身制御
LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops
車輪付き二足ロボットAscentoの剛体全身ダイナミクスを活用し、運動学的ループの閉形式表現とLQRを組み合わせた軽量な階層型全身制御器を提案し、不整地での走行性能とロバスト性を実験で示した。
著者: Victor Klemm, Alessandro Morra, Lionel Gulich, Dominik Mannhart, David Rohr, Mina Kamel, Yvain de Viragh, Roland Siegwart
分類: cs.RO
原文アブストラクト
We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento. We derive closed-form expressions for the dynamics of its kinematic loops in a way that readily generalizes to more complex systems. The rolling constraint is incorporated using a compact analytic solution based on rotation matrices. The non-minimum phase balancing dynamics are accounted for by including a linear-quadratic regulator as a motion task. Robustness when driving curves is increased by regulating the lean angle as a function of the zero-moment point. The proposed controller is computationally lightweight and significantly extends the rough-terrain capabilities and robustness of the system, as we demonstrate in several experiments.
