基于能量守恒的反馈消除，让四足机器人跑得更稳更抗干扰。
Stable and Robust SLIP Model Control via Energy Conservation-Based Feedback Cancellation for Quadrupedal Applications
- 用弹簧倒立摆模型控制腿长和腿向，模拟自然奔跑姿态。
- 在模拟中实现稳定弹跳步态，即使传感器误差达10%仍能保持稳定。
- 适合研究四足机器人动态运动控制或需高鲁棒性的工程应用。
本文提出一种基于能量守恒的控制架构，用于实现四足机器人的稳定动态运动。将机器人建模为弹簧倒立摆（SLIP）模型，该模型能有效表征多种生物及仿生四足系统中常见的弹跳步态特征。通过该模型，在飞行阶段实现腿向控制，在支撑阶段实现腿长控制，设计思路源于自然四足动物行为，并广泛应用于机器人四足系统。控制算法利用四足机器人简化的SLIP动力学，在支撑期追踪由能量守恒原理计算出的稳定抛物线样条轨迹。基于真实四足机器人Ghost Robotics Minitaur的设计参数进行仿真，验证了所提算法可生成稳定的弹跳步态。此外，通过展示控制器在传感器测量误差高达10%时仍能维持稳定弹跳，证明其具备良好的鲁棒性。
原文摘要 · Abstract (English)
In this paper, we present an energy-conservation based control architecture for stable dynamic motion in quadruped robots. We model the robot as a Spring-loaded Inverted Pendulum (SLIP), a model well-suited to represent the bouncing motion characteristic of running gaits observed in various biological quadrupeds and bio-inspired robotic systems. The model permits leg-orientation control during flight and leg-length control during stance, a design choice inspired by natural quadruped behaviors and prevalent in robotic quadruped systems. Our control algorithm uses the reduced-order SLIP dynamics of the quadruped to track a stable parabolic spline during stance, which is calculated using the principle of energy conservation. Through simulations based on the design specifications of an actual quadruped robot, Ghost Robotics Minitaur, we demonstrate that our control algorithm generates stable bouncing gaits. Additionally, we illustrate the robustness of our controller by showcasing its ability to maintain stable bouncing even when faced with up to a 10% error in sensor measurements.
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