Predictive Control With Indirect Adaptive Laws for Payload Transportation by Quadrupedal Robots

被引:0
|
作者
Amanzadeh, Leila [1 ]
Chunawala, Taizoon [1 ]
Fawcett, Randall T. [2 ]
Leonessa, Alexander [1 ]
Hamed, Kaveh Akbari [1 ]
机构
[1] VirginiaTech, Dept Mech Engn, Blacksburg, VA 24061 USA
[2] Exponent Inc, Phoenix, AZ 85027 USA
来源
IEEE ROBOTICS AND AUTOMATION LETTERS | 2024年 / 9卷 / 11期
基金
美国国家科学基金会;
关键词
Payloads; Adaptation models; Uncertainty; Quadrupedal robots; Stability criteria; Numerical stability; Heuristic algorithms; Transportation; Numerical models; Mathematical models; Legged robots; motion control; multi-contact whole-body motion planning and control; LEGGED LOCOMOTION; MPC;
D O I
10.1109/LRA.2024.3474550
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
This letter formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MPC) algorithm with a gradient-descent-based adaptive updating law. At the framework's high level, an indirect adaptive law estimates the unknown parameters of the reduced-order (template) locomotion model under varying payloads. These estimated parameters feed into an MPC algorithm for real-time trajectory planning, incorporating a convex stability criterion within the MPC constraints to ensure the stability of the template model's estimation error. The optimal reduced-order trajectories generated by the high-level adaptive MPC (AMPC) are then passed to a low-level nonlinear whole-body controller (WBC) for tracking. Extensive numerical investigations validate the framework's capabilities, showcasing the robot's proficiency in transporting unmodeled, unknown static payloads up to 109% in experiments on flat terrains and 91% on rough experimental terrains. The robot also successfully manages dynamic payloads with 73% of its mass on rough terrains. Performance comparisons with a normal MPC and an L-1 MPC indicate a significant improvement. Furthermore, comprehensive hardware experiments conducted in indoor and outdoor environments confirm the method's efficacy on rough terrains despite uncertainties such as payload variations, push disturbances, and obstacles.
引用
收藏
页码:10359 / 10366
页数:8
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