四足机器人通过感知力矩实现负重运输的自适应控制
Compliant Control of Quadruped Robots for Assistive Load Carrying
- 利用本体感知数据估算外部受力，结合阻抗控制与约束屏障函数优化加速度
- 在不同负载下稳定控制加速度，且能自动避开前方协作对象
- 适合工业搬运与搜救等复杂场景，兼顾安全性与鲁棒性
本文提出一种基于四足机器人的辅助负重运输新方法。控制器利用本体感知数据估计外部基底力矩，并据此精确控制机器人在运载过程中的加速度。加速度控制通过阻抗控制与基于控制屏障函数（CBF）的二次规划（QP）相结合实现。所提控制器可有效抑制干扰，在不同负载条件下保持一致性能。此外，内置的CBF机制确保了机器人与前方协作对象之间的碰撞避免。控制器的有效性通过物理硬件实现和数值仿真得到验证。该控制框架旨在提升四足机器人在工业应用及搜救任务等多种场景下的辅助作业能力。
原文摘要 · Abstract (English)
This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used for precise control of the robot's acceleration during payload transport. The acceleration is controlled using a combination of admittance control and Control Barrier Function (CBF) based quadratic program (QP). The proposed controller rejects disturbances and maintains consistent performance under varying load conditions. Additionally, the built-in CBF guarantees collision avoidance with the collaborative agent in front of the robot. The efficacy of the overall controller is shown by its implementation on the physical hardware as well as numerical simulations. The proposed control framework aims to enhance the quadruped robot's ability to perform assistive tasks in various scenarios, from industrial applications to search and rescue operations.
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