車輪付き二足ロボットによる階層制御を用いた物体スライディングの移動操作
Mobile Pedipulation for Object Sliding via Hierarchical Control on a Wheeled Bipedal Robot
車輪付き二足ロボットが脚を使って物体を滑らせて動かすための階層制御フレームワークを提案し、実機実験で物体の回収やスライディングを実証した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
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著者: Yue Qin, Yulun Zhuang, Zelin Shen, Yanran Ding
分類: cs.RO
原文アブストラクト
In this letter, we present a hierarchical control framework that enables wheeled bipedal robots to perform planar object sliding tasks with their wheeled legs. The proposed approach formulates a nonlinear model predictive controller (NMPC) based on a reduced-order three rigid bodies (TRB) dynamical model that explicitly accounts for the hip roll degree of freedom and multiple wheel-environment contact modes, which is essential for lateral stepping and pedipulation tasks. Within this framework, the NMPC simultaneously regulates robot locomotion and interaction forces, allowing the robot to stably execute both rolling and object manipulation behaviors. A trajectory-optimization-based robot-object motion planner is developed to generate reference motions that incorporate stick-slip transitions in ground-object contact. Two representative pedipulation motions, namely scooting and lateral sliding, are validated through real-world hardware experiments, in which the robot successfully retrieves a 1 kg object from under a desk and slides a 4 kg object over a distance of 0.228 m via scooting.
