期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 6, 期 2, 页码 747-754出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2020.3047787
关键词
Robots; Mobile robots; Planning; Wheels; Dynamics; Load modeling; Legged locomotion; Optimization and optimal control; underactuated robots; whole-body motion planning and control
类别
资金
- National Natural Science Foundation of China [62073159, 62003155]
- Shenzhen Science, and Technology Program [JCYJ20200109141601708]
This study focuses on jumping for wheeled-bipedal robots, developing a comprehensive hierarchical scheme for motion planning and control. The underactuation of wheeled-bipedal dynamics is addressed through a novel W-SLIP model and quadratic programming approach, allowing for accurate tracking of planned trajectories. The overall planning and control scheme is validated through V-REP simulations of a prototype wheeled-bipedal robot.
This letter studies jumping for wheeled-bipedal robots, a motion that takes full advantage of the benefits from the hybrid wheeled and legged design features. A comprehensive hierarchical scheme for motion planning and control of jumping with wheeled-bipedal robots is developed. Underactuation of the wheeled-bipedal dynamics is the main difficulty to be addressed, especially in the planning problem. To tackle this issue, a novel wheeled-spring-loaded inverted pendulum (W-SLIP) model is proposed to characterize the essential dynamics of wheeled-bipedal robots during jumping. Relying on a differential-flatness-like property of the W-SLIP model, a tractable quadratic programming based solution is devised for planning jumping motions for wheeled-bipedal robots. Combined with a kinematic planning scheme accounting for the flight phase motion, a complete planning scheme for the W-SLIP model is developed. To enable accurate tracking of the planned trajectories, a linear quadratic regulator based wheel controller and a task-space whole-body controller for the other joints are blended through disturbance observers. The overall planning and control scheme is validated using V-REP simulations of a prototype wheeled-bipedal robot.
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