提出一种新型分布式逆动力学控制器，解决四足机器人步态不稳定与计算量大的问题。
Distributed Inverse Dynamics Control for Quadruped Robots using Geometric Optimization
- 基于几何优化求解器，精确处理摩擦锥约束并保留完整刚体动力学模型。
- 实验表明足部打滑减少，姿态跟踪更准，收敛速度比传统方法快至少两倍。
- 适合嵌入式平台部署，支持高速全向小跑，能耗更低，适用于实际机器人系统。
本文提出一种分布式逆动力学控制器（DIDC），用于四足机器人，克服现有反应式控制器的局限性：简化动力学模型、无法精确处理摩擦锥约束、以及整体躯体控制器计算开销大。现有方法或完全忽略摩擦约束，或采用线性近似，易导致打滑和不稳定；而全肢体控制器则需要大量计算资源。本方法采用完整的刚体动力学模型，并通过新颖的几何优化求解器精确施加摩擦锥约束。DIDC将驱动与非驱动空间所需的广义力投影至驱动空间，同时满足物理约束并保持基座与关节跟踪目标间的正交性。实验验证表明，该方法显著减少足部打滑，提升姿态跟踪精度，且收敛速度至少为现有基于QP的反应式控制器的两倍。控制器支持在多种速度下稳定实现全向小跑，运行于嵌入式处理器上，功耗低于同类方法。
原文摘要 · Abstract (English)
This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical models, the inability to handle exact friction cone constraints, and the high computational requirements of whole-body controllers. Current methods either ignore friction constraints entirely or use linear approximations, leading to potential slip and instability, while comprehensive whole-body controllers demand significant computational resources. Our approach uses full rigid-body dynamics and enforces exact friction cone constraints through a novel geometric optimization-based solver. DIDC combines the required generalized forces corresponding to the actuated and unactuated spaces by projecting them onto the actuated space while satisfying the physical constraints and maintaining orthogonality between the base and joint tracking objectives. Experimental validation shows that our approach reduces foot slippage, improves orientation tracking, and converges at least two times faster than existing reactive controllers with generic QP-based implementations. The controller enables stable omnidirectional trotting at various speeds and consumes less power than comparable methods while running efficiently on embedded processors.
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