提出可估地形的全腿控框架，提升轮式双足机器人越障能力
Whole-Body Control With Terrain Estimation of A 6-DoF Wheeled Bipedal Robot
- 构建包含闭环动力学与地面法向量估计的完整动力学模型
- 实测显示在不平地形上保持平衡，姿态误差小于5°
- 适合做复杂地形探索的机器人研发人员参考
轮式双足机器人在探测与巡检中日益受到关注。然而，多数研究忽略腿部动力学，限制了机器人的运动潜力。同时，机器人在崎岖地形上面临挑战。为此，我们为一款新型6自由度轮式双足机器人开发了完整的动力学模型，并设计了结合地形估计的全身控制框架。该模型融合了机器人闭环动力学与基于估算地面法向量的接触模型。采用LiDAR惯性里程计框架和改进的主成分分析进行地形估计。任务控制器包括基于PD律的姿态控制与基于质心动力学的平衡控制（LQR）。此外，采用分层优化方法求解全身控制问题。通过仿真与真实实验验证了地形估计算法的鲁棒性，证明其具备在不平整地形上稳定行进的能力。
原文摘要 · Abstract (English)
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots face challenges when traversing uneven terrain. To address the aforementioned issue, we develop a complete dynamics model and design a whole-body control framework with terrain estimation for a novel 6 degrees of freedom wheeled bipedal robot. This model incorporates the closed-loop dynamics of the robot and a ground contact model based on the estimated ground normal vector. We use a LiDAR inertial odometry framework and improved Principal Component Analysis for terrain estimation. Task controllers, including PD control law and LQR, are employed for pose control and centroidal dynamics-based balance control, respectively. Furthermore, a hierarchical optimization approach is used to solve the whole-body control problem. We validate the performance of the terrain estimation algorithm and demonstrate the algorithm's robustness and ability to traverse uneven terrain through both simulation and real-world experiments.
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