動的剛体面上を歩行する四脚ロボットのための拡張キャプチャポイントと最適化ベース制御
Extended Capture Point and Optimization-based Control for Quadrupedal Robot Walking on Dynamic Rigid Surfaces
揺動する剛体面上での四脚ロボット歩行のため、キャプチャポイントを動的面上に拡張してオンライン計画に用い、動的表面運動を明示的に考慮したQPベースのフィードバック制御を設計した研究。
著者: Amir Iqbal, Yan Gu
分類: cs.RO, math.OC
原文アブストラクト
Stabilizing legged robot locomotion on a dynamic rigid surface (DRS) (i.e., rigid surface that moves in the inertial frame) is a complex planning and control problem. The complexity arises due to the hybrid nonlinear walking dynamics subject to explicitly time-varying holonomic constraints caused by the surface movement. The first main contribution of this study is the extension of the capture point from walking on a static surface to locomotion on a DRS as well as the use of the resulting capture point for online motion planning. The second main contribution is a quadratic-programming (QP) based feedback controller design that explicitly considers the DRS movement. The stability and robustness of the proposed control approach are validated through simulations of a quadrupedal robot walking on a DRS with a rocking motion. The simulation results also demonstrate the improved walking performance compared with our previous approach based on offline planning and input-output linearizing control that does not explicitly guarantee the feasibility of ground contact constraints.
