LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot With Kinematic Loops

被引：105

作者：

Klemm, Victor ^{[1
]}

Morra, Alessandro ^{[1
]}

Gulich, Lionel ^{[1
]}

Mannhart, Dominik ^{[1
]}

Rohr, David ^{[1
]}

Kamel, Mina ^{[1
]}

de Viragh, Yvain ^{[2
]}

Siegwart, Roland ^{[1
]}

机构：

[1] Swiss Fed Inst Technol, ASL, CH-8092 Zurich, Switzerland

[2] Swiss Fed Inst Technol, Dept Comp Sci, CRL, CH-8092 Zurich, Switzerland

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2020年 / 5卷 / 02期

基金：

瑞士国家科学基金会;

关键词：

Legged robots; wheeled robots; parallel robots; dynamics; robust; adaptive control of robotic systems;

D O I：

10.1109/LRA.2020.2979625

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento. We derive closed-form expressions for the dynamics of its kinematic loops in a way that readily generalizes to more complex systems. The rolling constraint is incorporated using a compact analytic solution based on rotation matrices. The non-minimum phase balancing dynamics are accounted for by including a linear-quadratic regulator as a motion task. Robustness when driving curves is increased by regulating the lean angle as a function of the zero-moment point. The proposed controller is computationally lightweight and significantly extends the rough-terrain capabilities and robustness of the system, as we demonstrate in several experiments.

引用

页码：3745 / 3752

页数：8

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