四足歩行ロボットによる協調的荷物運搬のためのコンプライアント制御
Compliant Control of Quadruped Robots for Assistive Load Carrying
固有受容感覚センサから外力を推定し、アドミタンス制御と制御バリア関数ベースのQPを組み合わせて、四足ロボットが人と協調して荷物を運ぶ際の加速度を精密に制御する手法を提案した。
著者: Nimesh Khandelwal, Amritanshu Manu, Shakti S. Gupta, Mangal Kothari, Prashanth Krishnamurthy, Farshad Khorrami
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used for precise control of the robot's acceleration during payload transport. The acceleration is controlled using a combination of admittance control and Control Barrier Function (CBF) based quadratic program (QP). The proposed controller rejects disturbances and maintains consistent performance under varying load conditions. Additionally, the built-in CBF guarantees collision avoidance with the collaborative agent in front of the robot. The efficacy of the overall controller is shown by its implementation on the physical hardware as well as numerical simulations. The proposed control framework aims to enhance the quadruped robot's ability to perform assistive tasks in various scenarios, from industrial applications to search and rescue operations.
