3Dホッピングロボットの非線形モデル予測制御：リー群積分器を活用した動的安定動作
Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors
3Dホッピングロボットの動的安定動作を実現するため、リー群積分器と低レベルフィードバックを組み合わせたハイブリッド非線形モデル予測制御を開発し、実験で安定ホッピングとシミュレーションで軌道追従・フリップを実証した。
著者: Noel Csomay-Shanklin, Victor D. Dorobantu, Aaron D. Ames
分類: cs.RO
原文アブストラクト
Achieving stable hopping has been a hallmark challenge in the field of dynamic legged locomotion. Controlled hopping is notably difficult due to extended periods of underactuation combined with very short ground phases wherein ground interactions must be modulated to regulate global state. In this work, we explore the use of hybrid nonlinear model predictive control paired with a low-level feedback controller in a multi-rate hierarchy to achieve dynamically stable motions on a 3D hopping robot. In order to demonstrate richer behaviors on the manifold of rotations, both the planning and feedback layers must be designed in a geometrically consistent fashion; therefore, we develop the necessary tools to employ Lie group integrators and appropriate feedback controllers. We experimentally demonstrate stable 3D hopping, as well as trajectory tracking and flipping in simulation.
