多足机器人协同搬运重物，安全自适应规划新方法。
Hierarchical Adaptive Motion Planning with Nonlinear Model Predictive Control for Safety-Critical Collaborative Loco-Manipulation
- 分层控制架构融合非线性模型预测与障碍函数，实时生成避障路径。
- 可适应未知物体与地形，在仿真和实机中成功搬运复杂环境中的物体。
- 适合工业协作、自主建造等高安全性要求的多机器人任务场景。
随着腿式机器人在工业与自主建筑中应用增多，多机器人协同运载大件重物成为关键挑战。本文提出一种分层控制体系，用于四足机器人团队协作搬运。高层采用非线性模型预测控制（NMPC）结合控制屏障函数（CBF），生成无碰撞路径，同时计算接触点与力，并适应未知物体及地形变化。底层为去中心化运动-操作控制器，确保各机器人在规划引导下保持稳定行走与操作。方法在多种仿真条件下验证，并在真实机器人硬件上测试，成功实现对未知物体在静态与动态障碍环境中灵活移动。代码已开源：https://github.com/DRCL-USC/collaborative_loco_manipulation。
原文摘要 · Abstract (English)
As legged robots take on roles in industrial and autonomous construction, collaborative loco-manipulation is crucial for handling large and heavy objects that exceed the capabilities of a single robot. However, ensuring the safety of these multi-robot tasks is essential to prevent accidents and guarantee reliable operation. This paper presents a hierarchical control system for object manipulation using a team of quadrupedal robots. The combination of the motion planner and the decentralized locomotion controller in a hierarchical structure enables safe, adaptive planning for teams in complex scenarios. A high-level nonlinear model predictive control planner generates collision-free paths by incorporating control barrier functions, accounting for static and dynamic obstacles. This process involves calculating contact points and forces while adapting to unknown objects and terrain properties. The decentralized loco-manipulation controller then ensures each robot maintains stable locomotion and manipulation based on the planner's guidance. The effectiveness of our method is carefully examined in simulations under various conditions and validated in real-life setups with robot hardware. By modifying the object's configuration, the robot team can maneuver unknown objects through an environment containing both static and dynamic obstacles. We have made our code publicly available in an open-source repository at \url{https://github.com/DRCL-USC/collaborative_loco_manipulation}.
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