A Real-Time Planning and Control Framework for Robust and Dynamic Quadrupedal Locomotion
作者机构：State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin150001China School of Mechanical EngineeringUniversity of LeedsLeedsLS29JTUK
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2023年第20卷第4期
页 面：1449-1466页
核心收录：
学科分类：0831[工学-生物医学工程（可授工学、理学、医学学位）] 0710[理学-生物学] 1002[医学-临床医学] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0805[工学-材料科学与工程（可授工学、理学学位）] 0835[工学-软件工程] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）]
基 金：supported by the China Scholarship Council under Grant06120186 the Engineering and Physical Sciences Research Council[Grant number EP/V026801/2] the Advanced Machinery and Productivity Institute[Innovate UK project number 84646] the National Natural Science Foundation of China under Grant 52175011
主 题：Bionic robot Legged locomotion Motion planning Whole-body control
摘 要：Legged locomotion poses significant challenges due to its nonlinear,underactuated and hybrid dynamic *** challenges are exacerbated by the high-speed motion and presence of aerial phases in dynamic legged locomotion,which highlights the requirement for online planning based on current states to cope with uncertainty and *** article proposes a real-time planning and control framework integrating motion planning and whole-body *** the framework,the designed motion planner allows a wider body rotation range and fast reactive behaviors based on the 3-D single rigid body *** addition,the combination of a Bézier curve based trajectory interpolator and a heuristic-based foothold planner helps generate continuous and smooth foot *** developed whole-body controller uses hierarchical quadratic optimization coupled with the full system dynamics,which ensures tasks are prioritized based on importance and joint commands are physically *** performance of the framework is successfully validated in experiments with a torque-controlled quadrupedal robot for generating dynamic motions.
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