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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2404.00591 |
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| _version_ | 1866911820903612416 |
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| author | Yang, Shunpeng Hong, Zejun Li, Sen Wensing, Patrick Zhang, Wei Chen, Hua |
| author_facet | Yang, Shunpeng Hong, Zejun Li, Sen Wensing, Patrick Zhang, Wei Chen, Hua |
| contents | This manuscript primarily aims to enhance the performance of whole-body controllers(WBC) for underactuated legged locomotion. We introduce a systematic parameter design mechanism for the floating-base feedback control within the WBC. The proposed approach involves utilizing the linearized model of unactuated dynamics to formulate a Linear Quadratic Regulator(LQR) and solving a Riccati gain while accounting for potential physical constraints through a second-order approximation of the log-barrier function. And then the user-tuned feedback gain for the floating base task is replaced by a new one constructed from the solved Riccati gain. Extensive simulations conducted in MuJoCo with a point bipedal robot, as well as real-world experiments performed on a quadruped robot, demonstrate the effectiveness of the proposed method. In the different bipedal locomotion tasks, compared with the user-tuned method, the proposed approach is at least 12% better and up to 50% better at linear velocity tracking, and at least 7% better and up to 47% better at angular velocity tracking. In the quadruped experiment, linear velocity tracking is improved by at least 3% and angular velocity tracking is improved by at least 23% using the proposed method. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_00591 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion Yang, Shunpeng Hong, Zejun Li, Sen Wensing, Patrick Zhang, Wei Chen, Hua Robotics This manuscript primarily aims to enhance the performance of whole-body controllers(WBC) for underactuated legged locomotion. We introduce a systematic parameter design mechanism for the floating-base feedback control within the WBC. The proposed approach involves utilizing the linearized model of unactuated dynamics to formulate a Linear Quadratic Regulator(LQR) and solving a Riccati gain while accounting for potential physical constraints through a second-order approximation of the log-barrier function. And then the user-tuned feedback gain for the floating base task is replaced by a new one constructed from the solved Riccati gain. Extensive simulations conducted in MuJoCo with a point bipedal robot, as well as real-world experiments performed on a quadruped robot, demonstrate the effectiveness of the proposed method. In the different bipedal locomotion tasks, compared with the user-tuned method, the proposed approach is at least 12% better and up to 50% better at linear velocity tracking, and at least 7% better and up to 47% better at angular velocity tracking. In the quadruped experiment, linear velocity tracking is improved by at least 3% and angular velocity tracking is improved by at least 23% using the proposed method. |
| title | Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion |
| topic | Robotics |
| url | https://arxiv.org/abs/2404.00591 |