用多速率非线性模型预测控制实现四足机器人墙辅双足行走

This paper presents a novel layered planning and control framework based on multi-rate nonlinear model predictive control (MR-NMPC) that enables quadrupedal robots to perform hybrid bipedal locomotion with wall-assisted support in constrained environments. Real-time trajectory optimization for this locomotion presents significant challenges, as the controller must simultaneously plan for both the contact points and the continuous trajectories of the robot's center of mass (CoM) and orientation within the robot's nonlinear dynamics while accounting for unilateral contact constraints, underactuation, and the switching nature of the robot's dynamics. At the high level of the control framework, an MR-NMPC is proposed, which dynamically plans both the discrete-time trajectories of the contact points and the continuous-time trajectories of the CoM and orientation, using a single rigid body (SRB) dynamics model. By incorporating contact-point planning within the multi-rate optimal control framework, this approach enhances dynamic stability compared to heuristic foot placement strategies. At the low level of the control framework, a nonlinear whole-body controller (WBC) based on virtual constraints and a quadratic program enforces full-order dynamics and tracks the MR-NMPC references. The proposed approach is validated through extensive numerical simulations demonstrating the robust wall-assisted bipedal locomotion of a Unitree A1 quadrupedal robot on rough terrains and under external disturbances in a constrained environment. Comparative analysis shows that the proposed MR-NMPC achieves a 2.9 times higher success rate compared to conventional MPC with heuristic-based foot placement strategies in negotiating irregular terrain at high speeds.