论文标题
LQR辅助的全身控制，对带有运动循环的双方式机器人
LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops
论文作者
论文摘要
我们提出了一个分层的全身控制器，利用轮式双足机器人的全部刚体动力学。我们以一种容易概括到更复杂的系统的方式来得出其运动学循环动力学的封闭形式表达式。使用基于旋转矩阵的紧凑型分析解决方案将滚动约束纳入。非最低相位平衡动力学是通过将线性二次调节器作为运动任务来解释的。通过调节倾角随零时点的函数来调节倾斜角时，稳健性会增加。所提出的控制器在计算上是轻巧的，并且可以显着扩展系统的粗糙功能和鲁棒性，正如我们在几个实验中所证明的那样。
We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento. We derive closed-form expressions for the dynamics of its kinematic loops in a way that readily generalizes to more complex systems. The rolling constraint is incorporated using a compact analytic solution based on rotation matrices. The non-minimum phase balancing dynamics are accounted for by including a linear-quadratic regulator as a motion task. Robustness when driving curves is increased by regulating the lean angle as a function of the zero-moment point. The proposed controller is computationally lightweight and significantly extends the rough-terrain capabilities and robustness of the system, as we demonstrate in several experiments.
