提出新型阻抗控制方法，提升攀爬机器人的稳定性和抗干扰能力。
Admittance Control-based Floating Base Reaction Mitigation for Limbed Climbing Robots
- 基于位置的阻抗控制，主动调节反应力
- 仿真显示反应力与关节扭矩显著降低
- 适合复杂地形或微重力下操作的攀爬机器人
对于足式攀爬机器人而言，感知并控制反作用力对保障安全稳定运行至关重要。在陡峭地形或微重力环境下，过大的反作用力可能导致足部脱离接触，引发坠落或漂浮。此外，这类机器人常需执行操作任务，除运动产生的力外，还需应对外部干扰力。为在保持精确轨迹跟踪的同时有效应对扰动，本文提出一种基于位置的阻抗控制（即阻抗控制）新方案。通过引入持续性及冲击性干扰力的仿真案例，验证了该方法的有效性。结果表明，采用该方法后，反作用力和关节扭矩均显著降低。
原文摘要 · Abstract (English)
Reaction force-aware control is essential for legged climbing robots to ensure a safer and more stable operation. This becomes particularly crucial when navigating steep terrain or operating in microgravity environments, where excessive reaction forces may result in the loss of foot contact with the ground, leading to potential falls or floating over in microgravity. Furthermore, such robots are often tasked with manipulation activities, exposing them to external forces in addition to those generated during locomotion. To effectively handle such disturbances while maintaining precise motion trajectory tracking, we propose a novel control scheme based on position-based impedance control, also known as admittance control. We validated this control method through simulation-based case studies by intentionally introducing continuous and impact interference forces to simulate scenarios such as object manipulation or obstacle collisions. The results demonstrated a significant reduction in both the reaction force and joint torque when employing the proposed method.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。