轮式双足机器人用腿滑动物体，实现稳定抓取与移动。
Mobile Pedipulation for Object Sliding via Hierarchical Control on a Wheeled Bipedal Robot
- 分层控制框架结合非线性模型预测，精准调控运动与接触力。
- 实测成功滑动4公斤物体22.8厘米，从桌下取出1公斤物体。
- 适合研究机器人灵巧操作与复杂地形移动的团队参考。
本文提出一种分层控制框架，使轮式双足机器人能够通过其轮式腿部执行平面内物体滑动任务。该方法基于简化的三刚体（TRB）动力学模型，显式建模髋部滚转自由度及多种轮-环境接触模式，适用于横向步进与夹持操作。在此框架中，非线性模型预测控制器（NMPC）同时调节机器人运动与交互力，确保滚动与物体操作行为的稳定协同。进一步设计了基于轨迹优化的机器人-物体运动规划器，生成包含地面-物体接触黏滑转换的参考轨迹。验证了两种典型夹持动作：滑行（scooting）与侧向滑动。实际硬件实验表明，机器人成功将1公斤物体从桌下取出，并以滑行方式将4公斤物体滑移0.228米。
原文摘要 · Abstract (English)
In this letter, we present a hierarchical control framework that enables wheeled bipedal robots to perform planar object sliding tasks with their wheeled legs. The proposed approach formulates a nonlinear model predictive controller (NMPC) based on a reduced-order three rigid bodies (TRB) dynamical model that explicitly accounts for the hip roll degree of freedom and multiple wheel-environment contact modes, which is essential for lateral stepping and pedipulation tasks. Within this framework, the NMPC simultaneously regulates robot locomotion and interaction forces, allowing the robot to stably execute both rolling and object manipulation behaviors. A trajectory-optimization-based robot-object motion planner is developed to generate reference motions that incorporate stick-slip transitions in ground-object contact. Two representative pedipulation motions, namely scooting and lateral sliding, are validated through real-world hardware experiments, in which the robot successfully retrieves a 1 kg object from under a desk and slides a 4 kg object over a distance of 0.228 m via scooting.
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