用振荡动作和自适应控制提升机器人在复杂地形的自主挖掘效率
Autonomous Excavation of Challenging Terrain using Oscillatory Primitives and Adaptive Impedance Control
- 引入旋转、扭转等振荡动作破除颗粒粘连
- 自适应阻抗控制使挖掘轨迹在阻力大时自动调整，避免卡死
- 实测四种地形，挖土量提升且停机率降低
本文针对复杂地形自主挖掘中易发生堵塞和颗粒粘连的问题，提出一种受人类挖掘行为启发的方法。通过引入旋转变换、扭转和俯冲等振荡运动，有效松散密实颗粒，减少卡滞。同时设计了可自适应调整的阻抗控制器（RAIC），在负载较小时精确跟踪轨迹，在遇到较大阻力时主动避让，防止过载。该方法在四类不同地表上使用机械臂进行测试，结果表明在挖掘体积、保护性停机率和轨迹完成度等多项指标上均有显著提升。
原文摘要 · Abstract (English)
This paper addresses the challenge of autonomous excavation of challenging terrains, in particular those that are prone to jamming and inter-particle adhesion when tackled by a standard penetrate-drag-scoop motion pattern. Inspired by human excavation strategies, our approach incorporates oscillatory rotation elements -- including swivel, twist, and dive motions -- to break up compacted, tangled grains and reduce jamming. We also present an adaptive impedance control method, the Reactive Attractor Impedance Controller (RAIC), that adapts a motion trajectory to unexpected forces during loading in a manner that tracks a trajectory closely when loads are low, but avoids excessive loads when significant resistance is met. Our method is evaluated on four terrains using a robotic arm, demonstrating improved excavation performance across multiple metrics, including volume scooped, protective stop rate, and trajectory completion percentage.
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