用统一模型提升柔性足式机器人的动态步态稳定性
Deformable Multibody Modeling for Model Predictive Control in Legged Locomotion with Embodied Compliance
- 将刚体与柔性体统一建模，构建可变形多体系统框架
- 引入CCPDI张量，在相同控制器下稳定实现四足机器人踏步
- 对参数变化保持鲁棒性，适合柔性躯干机器人控制
本文提出一种用于具身柔性的足式机器人动态步态稳定的控制方法。通过统一描述刚体与柔性体的变形，构建可变形多体系统模型，并推导出其质心复合预测变形惯性（CCPDI）张量。该张量可与标准模型预测控制器（MPC）集成。仿真表明，所提框架在相同MPC配置下，能稳定实现具有刚性与柔性脊柱的四足机器人踏步。相比传统MPC，CCPDI-MPC使地面反作用力分布更接近体态平衡的启发式规则，从而更易稳定柔性机器人的步态。参数研究显示，该方法在关键参数合理范围内具备一定鲁棒性。
原文摘要 · Abstract (English)
The paper presents a method to stabilize dynamic gait for a legged robot with embodied compliance. Our approach introduces a unified description for rigid and compliant bodies to approximate their deformation and a formulation for deformable multibody systems. We develop the centroidal composite predictive deformed inertia (CCPDI) tensor of a deformable multibody system and show how to integrate it with the standard-of-practice model predictive controller (MPC). Simulation shows that the resultant control framework can stabilize trot stepping on a quadrupedal robot with both rigid and compliant spines under the same MPC configurations. Compared to standard MPC, the developed CCPDI-enabled MPC distributes the ground reactive forces closer to the heuristics for body balance, and it is thus more likely to stabilize the gaits of the compliant robot. A parametric study shows that our method preserves some level of robustness within a suitable envelope of key parameter values.
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