让轮腿机器人在复杂地形上稳稳端水，靠的是上下身协同控制。
Whole-Body Impedance Coordinative Control of Wheel-Legged Robot on Uncertain Terrain
- 分层控制：上层调阻尼保上身稳定，下层实时估算地形并算扭矩。
- 实测证明，机器人能在不同地面端水行走，上身晃动小。
- 适合做移动机器人控制、智能仿人机械臂研究者参考。
本文提出一种面向轮腿人形机器人的全身阻抗协调控制框架，旨在复杂地形中实现适应性运动的同时保持上身稳定。该框架采用双层控制策略：外层为可变阻尼阻抗控制器，通过优化阻尼参数确保持物时上身稳定；内层采用基于轮脚位置与力数据实时估算地形的全身心控制（WBC）优化方法，生成电机转矩时综合考虑动态约束、关节限位、摩擦锥、实时地形更新及无模型摩擦补偿策略。所提方法已在一款新型四足人形机器人上验证，结果表明该算法能有效控制机器人，在不同地形上完成端水任务，同时保持上身稳定性。
原文摘要 · Abstract (English)
This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upper body stability. The framework contains a bi-level control strategy. The outer level is a variable damping impedance controller, which optimizes the damping parameters to ensure the stability of the upper body while holding an object. The inner level employs Whole-Body Control (WBC) optimization that integrates real-time terrain estimation based on wheel-foot position and force data. It generates motor torques while accounting for dynamic constraints, joint limits,friction cones, real-time terrain updates, and a model-free friction compensation strategy. The proposed whole-body coordinative control method has been tested on a recently developed quadruped humanoid robot. The results demonstrate that the proposed algorithm effectively controls the robot, maintaining upper body stability to successfully complete a water-carrying task while adapting to varying terrains.
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