Whole-Body Control for a Torque-Controlled Legged Mobile Manipulator

被引:12
|
作者
Li, Jun [1 ,2 ]
Gao, Haibo [1 ]
Wan, Yuhui [2 ]
Humphreys, Joseph [2 ]
Peers, Christopher [2 ]
Yu, Haitao [1 ]
Zhou, Chengxu [2 ]
机构
[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China
[2] Univ Leeds, Sch Mech Engn, Leeds LS2 9JT, W Yorkshire, England
基金
英国工程与自然科学研究理事会; “创新英国”项目;
关键词
legged mobile manipulator; motion planning; whole-body control; LOCOMOTION; DYNAMICS;
D O I
10.3390/act11110304
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
The task of performing locomotion and manipulation simultaneously poses several scientific challenges, such as how to deal with the coupling effects between them and how to cope with unknown disturbances introduced by manipulation. This paper presents an inverse dynamics-based whole-body controller for a torque-controlled quadrupedal manipulator capable of performing locomotion while executing manipulation tasks. Unlike existing methods that deal with locomotion and manipulation separately, the proposed controller can handle them uniformly, which can take into account the coupling effects between the base, limbs and manipulated object. The controller tracks the desired task-space motion references based on a hierarchical optimization algorithm, given a set of hierarchies that define strict priorities and the importance of weighting each task within a hierarchy. The simulation results show the robot is able to follow multiple task-space motion reference trajectories with reasonable deviation, which proved the effectiveness of the proposed controller.
引用
收藏
页数:17
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