考虑负载弹性特性，提升四足机器人运载稳定性。
ZiMPedance: Impedance-Aware ZMP Modeling and Control for Payload Carrying with Quadruped Robots
- 构建含被动臂动力学的扩展零力矩点模型
- 仿真中稳定违规降低10倍，地面反作用力减少15%
- 适合需负载运输的机器人控制研究者
四足机器人运载负载时，其与负载间的物理接口动态显著影响稳定性。相比主动机械臂，被动弹簧臂可减轻重量和复杂度，但其阻尼-弹簧特性可能引入振荡力，破坏行走稳定性。本文推导了包含被动负载接口动力学的扩展零力矩点（ZMP）模型，揭示刚度、阻尼与负载质量对稳定裕度的影响。分析表明，欠阻尼配置可能与步态谐波共振。基于此，我们将在单刚体动力学模型中融入被动子系统动力学，并集成至模型预测控制框架。仿真结果表明，所提控制器将稳定性违规率从7.0%降至0.7%，降低水平地面反作用力功耗达15%。硬件实验在2kg负载下，于拉-放扰动中实现稳定行走，而基准控制器失效。该模型还可通过被动臂动力学实现末端执行器跟踪，无需直接臂部驱动。
原文摘要 · Abstract (English)
Load transportation with quadruped robots is strongly affected by the dynamics of the physical interface between the robot and the load. Passive spring-based arms reduce weight and complexity compared to active manipulators, but their spring-damper dynamics can introduce oscillatory forces that degrade locomotion stability. This paper derives an extended Zero Moment Point (ZMP) formulation that includes passive payload-interface dynamics, relating stiffness, damping, and payload mass to the stability margin. The analysis shows that underdamped configurations can resonate with locomotion harmonics. Based on this insight, we augment a Single Rigid Body Dynamics model with passive subsystem dynamics and integrate it into a Model Predictive Control framework. In simulation, the proposed controller reduces stability violations by up to $10\times$, from $7.0\%$ to $0.7\%$, and increase locomotion efficiency by lowering horizontal ground reaction force effort by up to $15\%$ compared to a nominal baseline. Hardware experiments with a $2\,\mathrm{kg}$ payload show stable locomotion under pull-release disturbances where the nominal controller fails. The same model also enables end-effector tracking through passive arm dynamics without direct arm actuation.
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