Whole-Body Impedance Coordinative Control of Wheel-Legged Robot on Uncertain Terrain
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arXiv
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| Main Authors: | , , , , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866909391041593344 |
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| author | Shi, Lei Yu, Xinghua Zhou, Cheng Jin, Wanxin Chi, Wanchao Zhang, Shenghao Zhang, Dongsheng Li, Xiong Zhang, Zhengyou |
| author_facet | Shi, Lei Yu, Xinghua Zhou, Cheng Jin, Wanxin Chi, Wanchao Zhang, Shenghao Zhang, Dongsheng Li, Xiong Zhang, Zhengyou |
| contents | This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upper body stability. The framework contains a bi-level control strategy. The outer level is a variable damping impedance controller, which optimizes the damping parameters to ensure the stability of the upper body while holding an object. The inner level employs Whole-Body Control (WBC) optimization that integrates real-time terrain estimation based on wheel-foot position and force data. It generates motor torques while accounting for dynamic constraints, joint limits,friction cones, real-time terrain updates, and a model-free friction compensation strategy. The proposed whole-body coordinative control method has been tested on a recently developed quadruped humanoid robot. The results demonstrate that the proposed algorithm effectively controls the robot, maintaining upper body stability to successfully complete a water-carrying task while adapting to varying terrains. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_09935 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Whole-Body Impedance Coordinative Control of Wheel-Legged Robot on Uncertain Terrain Shi, Lei Yu, Xinghua Zhou, Cheng Jin, Wanxin Chi, Wanchao Zhang, Shenghao Zhang, Dongsheng Li, Xiong Zhang, Zhengyou Robotics This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upper body stability. The framework contains a bi-level control strategy. The outer level is a variable damping impedance controller, which optimizes the damping parameters to ensure the stability of the upper body while holding an object. The inner level employs Whole-Body Control (WBC) optimization that integrates real-time terrain estimation based on wheel-foot position and force data. It generates motor torques while accounting for dynamic constraints, joint limits,friction cones, real-time terrain updates, and a model-free friction compensation strategy. The proposed whole-body coordinative control method has been tested on a recently developed quadruped humanoid robot. The results demonstrate that the proposed algorithm effectively controls the robot, maintaining upper body stability to successfully complete a water-carrying task while adapting to varying terrains. |
| title | Whole-Body Impedance Coordinative Control of Wheel-Legged Robot on Uncertain Terrain |
| topic | Robotics |
| url | https://arxiv.org/abs/2411.09935 |