论文标题
朝着与正交投影和二次编程的四足动物系统进行精确的相互作用控制
Towards Exact Interaction Force Control for Underactuated Quadrupedal Systems with Orthogonal Projection and Quadratic Programming
论文作者
论文摘要
预计的逆动力控制（PIDC）通常用于接触的机器人中，尤其是在四足体系统中。许多基于此类动态的方法已经开发出针对四足动物的运动任务，并且只有少数工程研究了机器人和环境之间的简单交互，例如按E-Stop按钮。为了促进需要精确控制安全的相互作用，我们提出了一种新型的相互作用力控制方案，用于依靠投影技术和四次编程（QP）的四足动物系统。该算法允许机器人在不使用力传感器的情况下将所需的相互作用力施加到环境中，同时满足物理约束并诱导最小的基本运动。与以前的基于投影的方法不同，QP设计在其层次结构中使用两个选择矩阵，从而促进了力和运动控制之间的解耦。用高保真模拟器中的四倍机器人验证了所提出的算法。与QP设计相比，没有使用两个选择矩阵的策略和进行接触力控制的PIDC方法的策略，我们的方法提供了更准确的接触力跟踪性能，并以最小的基础运动为铺平了道路，以实现未射入四足动物系统的精确相互作用力控制。
Projected Inverse Dynamics Control (PIDC) is commonly used in robots subject to contact, especially in quadrupedal systems. Many methods based on such dynamics have been developed for quadrupedal locomotion tasks, and only a few works studied simple interactions between the robot and environment, such as pressing an E-stop button. To facilitate the interaction requiring exact force control for safety, we propose a novel interaction force control scheme for underactuated quadrupedal systems relying on projection techniques and Quadratic Programming (QP). This algorithm allows the robot to apply a desired interaction force to the environment without using force sensors while satisfying physical constraints and inducing minimal base motion. Unlike previous projection-based methods, the QP design uses two selection matrices in its hierarchical structure, facilitating the decoupling between force and motion control. The proposed algorithm is verified with a quadrupedal robot in a high-fidelity simulator. Compared to the QP designs without the strategy of using two selection matrices and the PIDC method for contact force control, our method provided more accurate contact force tracking performance with minimal base movement, paving the way to approach the exact interaction force control for underactuated quadrupedal systems.
