用非线性预测控制与差分优化，让四足轮腿机器人实现精准跳跃。
Jumping Control for a Quadrupedal Wheeled-Legged Robot via NMPC and DE Optimization
- 结合NMPC与差分进化算法，协同控制轮腿运动实现跳跃。
- 实测垂直跳高0.5米，前跳越过0.12米障碍。
- 适合研究复杂步态控制与智能机器人运动规划的学者。
四足轮腿机器人融合了腿式与轮式运动的优势，具备更强的机动性，但因轮腿引入额外自由度，执行动态跳跃仍具挑战。本文设计了一款小型轮腿机器人，并提出一种新型运动控制框架，将非线性模型预测控制（NMPC）用于步态控制，差分进化（DE）算法用于跳跃轨迹优化。所提控制器利用轮子运动与整体步态协调提升跳跃性能，可实现垂直跳、前跳及后空翻等多样化动作。大量仿真与真实实验验证了该框架的有效性，实测实现超过0.12米障碍的前跳和0.5米高的垂直跳。
原文摘要 · Abstract (English)
Quadrupedal wheeled-legged robots combine the advantages of legged and wheeled locomotion to achieve superior mobility, but executing dynamic jumps remains a significant challenge due to the additional degrees of freedom introduced by wheeled legs. This paper develops a mini-sized wheeled-legged robot for agile motion and presents a novel motion control framework that integrates the Nonlinear Model Predictive Control (NMPC) for locomotion and the Differential Evolution (DE) based trajectory optimization for jumping in quadrupedal wheeled-legged robots. The proposed controller utilizes wheel motion and locomotion to enhance jumping performance, achieving versatile maneuvers such as vertical jumping, forward jumping, and backflips. Extensive simulations and real-world experiments validate the effectiveness of the framework, demonstrating a forward jump over a 0.12 m obstacle and a vertical jump reaching 0.5 m.
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