论文标题
在线动态运动计划和轮式润滑机器人的控制
Online Dynamic Motion Planning and Control for Wheeled Biped Robots
论文作者
论文摘要
车轮腿机器人在适当的平坦表面上行驶时，在踩在障碍物上或周围时，将车轮机器人的效率结合在一起。本文介绍了一个计划和控制框架，以实现轮式双头机器人的动态运动。我们提出了卡车线性倒置的摆模型（CART-LIPM）作为滚动运动的模板模型，并且在行走时进行了接触变化的触发式变化。然后，通过反向动态全身控制器跟踪生成的运动，该全身控制器可以协调所有接头，包括车轮。该框架具有层次结构，并以模型预测控制（MPC）方式实现。为了验证拟议的混合运动产生方法，在模拟中设计了两个涉及不同类型障碍的情况。据我们所知，这是第一次在轮式双束机器人上证明这种在线动态混合动力。
Wheeled-legged robots combine the efficiency of wheeled robots when driving on suitably flat surfaces and versatility of legged robots when stepping over or around obstacles. This paper introduces a planning and control framework to realise dynamic locomotion for wheeled biped robots. We propose the Cart-Linear Inverted Pendulum Model (Cart-LIPM) as a template model for the rolling motion and the under-actuated LIPM for contact changes while walking. The generated motion is then tracked by an inverse dynamic whole-body controller which coordinates all joints, including the wheels. The framework has a hierarchical structure and is implemented in a model predictive control (MPC) fashion. To validate the proposed approach for hybrid motion generation, two scenarios involving different types of obstacles are designed in simulation. To the best of our knowledge, this is the first time that such online dynamic hybrid locomotion has been demonstrated on wheeled biped robots.
