期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 37, 期 4, 页码 1154-1171出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2020.3046415
关键词
Robots; Dynamics; Robot kinematics; Legged locomotion; Quaternions; Predictive control; Mathematical model; Dynamics; legged robots; model predictive control (MPC); underactuated robots
类别
资金
- NAVER LABS Corp. [087387]
- Air Force Office of Scientific Research [FA2386-17-1-4665]
- National Science Foundation [1752262]
- Mechanical Engineering Department of Korea Advanced Institute of Science, and Technology (KAIST)
- Div Of Civil, Mechanical, & Manufact Inn
- Directorate For Engineering [1752262] Funding Source: National Science Foundation
This article introduces a novel representation-free model predictive control framework for controlling dynamic motions of a quadrupedal robot in three-dimensional space. The controller can operate at real-time rates of 250 Hz and stabilize dynamic motions that involve singularity in 3-D maneuvers.
This article presents a novel representation-free model predictive control (RF-MPC) framework for controlling various dynamic motions of a quadrupedal robot in three-dimensional (3-D) space. Our formulation directly represents the rotational dynamics using the rotation matrix, which liberates us from the issues associated with the use of Euler angles and quaternion as the orientation representations. With a variation-based linearization scheme and a carefully constructed cost function, the MPC control law is transcribed to the standard quadratic program form. The MPC controller can operate at real-time rates of 250 Hz on a quadruped robot. Experimental results including periodic quadrupedal gaits and a controlled backflip validate that our control strategy could stabilize dynamic motions that involve singularity in 3-D maneuvers.
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