提出一套全身抗干扰控制框架，让机器人在复杂地形中更稳定。
A Whole-Body Disturbance Rejection Control Framework for Dynamic Motions in Legged Robots
- 融合自适应控制与扩展状态观测器，实时估计外部干扰和模型不确定性。
- 在双足和四足机器人仿真中，显著提升抗扰能力与动态稳定性。
- 适合研究复杂地形下足式机器人的鲁棒控制，尤其关注实际部署需求。
本文提出一种适用于足式机器人的全身抗干扰控制框架，实现自我感知与对外部干扰及模型不确定性的抵抗。首先，设计了一种新型干扰估计器，结合自适应控制与扩展状态观测器（ESO），可实时估计外部干扰和模型不确定性，并嵌入全身控制框架中进行补偿。其次，提出综合性的全身干扰排斥控制框架（WB-DRC），充分考虑机器人全身动力学特性。相比以往的全身控制框架，WB-DRC在面对外部干扰和模型不确定性时表现更优，具备适应复杂地形的潜力。第三，通过Gazebo仿真平台对双足与四足机器人进行了测试，验证了该框架的有效性与通用性。最后，针对四足机器人开展了大量实验，在多种干扰条件下验证了系统在使用WB-DRC时的鲁棒性与稳定性。
原文摘要 · Abstract (English)
This letter presents a control framework for legged robots that enables self-perception and resistance to external disturbances and model uncertainties. First, a novel disturbance estimator is proposed, integrating adaptive control and extended state observers (ESO) to estimate external disturbances and model uncertainties. This estimator is embedded within the whole-body control framework to compensate for disturbances in the legged system. Second, a comprehensive whole-body disturbance rejection control framework (WB-DRC) is introduced, accounting for the robot's full-body dynamics. Compared to previous whole-body control frameworks, WB-DRC effectively handles external disturbances and model uncertainties, with the potential to adapt to complex terrain. Third, simulations of both biped and quadruped robots are conducted in the Gazebo simulator to demonstrate the effectiveness and versatility of WB-DRC. Finally, extensive experimental trials on the quadruped robot validate the robustness and stability of the robot system using WB-DRC under various disturbance conditions.
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