不整地における車輪脚ロボットの全身インピーダンス協調制御
Whole-Body Impedance Coordinative Control of Wheel-Legged Robot on Uncertain Terrain
車輪脚ヒューマノイドロボットが複雑な地形に適応しつつ上半身の安定を保つため、可変減衰インピーダンス制御と全身制御最適化を組み合わせた二層制御フレームワークを提案し、水運びタスクで有効性を示した。
著者: Lei Shi, Xinghua Yu, Cheng Zhou, Wanxin Jin, Wanchao Chi, Shenghao Zhang, Dongsheng Zhang, Xiong Li, Zhengyou Zhang
分類: cs.RO
原文アブストラクト
This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upper body stability. The framework contains a bi-level control strategy. The outer level is a variable damping impedance controller, which optimizes the damping parameters to ensure the stability of the upper body while holding an object. The inner level employs Whole-Body Control (WBC) optimization that integrates real-time terrain estimation based on wheel-foot position and force data. It generates motor torques while accounting for dynamic constraints, joint limits,friction cones, real-time terrain updates, and a model-free friction compensation strategy. The proposed whole-body coordinative control method has been tested on a recently developed quadruped humanoid robot. The results demonstrate that the proposed algorithm effectively controls the robot, maintaining upper body stability to successfully complete a water-carrying task while adapting to varying terrains.
