不確実性下での高精度・柔軟制御のためのタスク空間運動力非線形モデル予測制御
Task-Space Motion-Force Nonlinear Model Predictive Control for Precise and Compliant Control under Uncertainties
タスク空間の運動と力の要求を満たす統一的なNMPCフレームワークを提案し、力フィードバックループを高レベル計画層に組み込むことで、冗長マニピュレータのハイブリッド運動力制御や四足歩行の柔軟な歩行を実現した。
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著者: Quang-Nam Nguyen, Ludovic Righetti
分類: cs.RO
原文アブストラクト
In Nonlinear Model Predictive Control (NMPC), the control law is implicitly determined by the solution of an Optimal Control Problem (OCP). Consequently, OCP design is often tailored to specific platforms and tasks, demanding extensive expert knowledge and tuning effort. To address this, we propose a unified NMPC framework that directly plans and controls the robot joints subject to task-space motion and force requirements and is capable of seamlessly generalizing across multiple robotic platforms and diverse tasks. Furthermore, optimization-based methods often treat interactions as rigid contacts, making the torque solution sensitive to the modeling errors of the robot dynamics and the environment. We study the intrinsic task-space impedance of our proposed controller, its partial contraction for differential stability and differential passivity under unmodeled interactions. As a result, our framework enables closing the force-feedback loop in the high-level planning layer to achieve precise motion-force tracking performance, addressing the long-standing challenge of force-feedback NMPC. Finally, we validate our framework on physical hardware, demonstrating hybrid motion-force control on a redundant manipulator and compliant locomotion on a quadruped, while preserving core NMPC advantages such as hard constraint satisfaction, optimal redundancy exploitation, and real-time planning under unforeseen interactions.
