Whole-body control (WBC) has been applied to the locomotion of legged robots. However, current WBC methods have not considered the intrinsic features of parallel mechanisms, especially motion/force transmissibility (MFT). In this work, we propose an MFT-enhanced WBC scheme. Introducing MFT into a WBC is challenging due to the nonlinear relationship between MFT indices and the robot configuration. To overcome this challenge, we establish the MFT preferable space of the robot and formulate it as a polyhedron in the joint space at the acceleration level. Then, the WBC employs the polyhedron as a soft constraint. As a result, the robot possesses high-speed and high-acceleration capabilities by satisfying this constraint as well as staying away from its singularity. In contrast with the WBC without considering MFT, our proposed scheme is more robust to external disturbances, e.g., push recovery and uneven terrain locomotion. simulations and experiments on a parallel-legged bipedal robot are provided to demonstrate the performance and robustness of the proposed method.
翻译：整体机体控制(WBC)已经应用于腿形机器人的移动。 但是,目前的WBC方法还没有考虑到平行机制的内在特征,特别是运动/力感应(MFT)的内在特征。 在这项工作中,我们提议了一个MFT增强的WBC计划。由于MFT指数和机器人配置之间的非线性关系,将MFT引入WBC具有挑战性。为了克服这一挑战,我们建立了机器人的MFT优选用空间,并将其配制成在加速水平的联合空间的多元体。然后,WBC将多元体作为软约束使用。因此,机器人拥有高速和高加速能力,既满足这一限制,又远离其单一性。与WBC相比,我们提议的计划对外部扰动更为强大,例如,推力恢复和不均匀的地形传动。在平行带双腿机器人上进行模拟和实验,以显示拟议方法的性能和稳健性。
相关内容
微信扫码咨询专知VIP会员