PACC: 受動アームとモデル予測制御による四足ロボットの高ペイロード協調運搬
PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control
四足ロボットに受動関節アームを取り付け、その変位から外部力を推定して分散型MPCで歩行を制御することで、ロボット同士や人との協調運搬を階段や不整地で実現した研究。
著者: Giulio Turrisi, Lucas Schulze, Vivian S. Medeiros, Claudio Semini, Victor Barasuol
分類: cs.RO
原文アブストラクト
In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The concept is meant for a leader-follower task and takes a minimalist approach that focuses on exploiting the robots' payload capabilities and reducing energy consumption, without compromising the robot locomotion capabilities. We introduce a preliminary arm mechanical design and describe how to use its joint displacements to guide the robot's motion. To control the robot's locomotion, we propose a decentralized Model Predictive Controller that incorporates an approximation of the arm dynamics and the estimation of the external forces from the collaborative carrying. We validate the overall system experimentally by performing both robot-robot and human-robot collaborative carrying on a stair-like obstacle and on rough terrain.
