基于接触感知控制器的互补系统镇定
Stabilization of Complementarity Systems via Contact-Aware Controllers
摘要：
我们提出了一个控制框架，它可以利用触觉信息，利用接触动力学的互补结构。由于许多机器人任务，如操纵和运动，基本上是基于与环境的接触和断开接触，最先进的控制策略难以处理多接触运动的混合性质。这样的控制器往往严重依赖于动力学，或者由于动力学中的组合结构，不适合实时控制。触觉传感器的原则性部署为稳定和鲁棒的控制提供了一种有前途的机制，但现代方法通常以特别的方式使用这些数据，例如指导防守动作。该框架可以闭合触觉传感器上的回路，并且它是非组合的，使得优化算法能够自动合成可证明稳定的控制策略。我们证明了这种方法的多个数值例子，包括准静态摩擦问题和一个高维的问题与十个接触。我们还验证了我们的实验装置上的结果，并显示所提出的方法对欠驱动多接触系统的有效性。
英文摘要：
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such controllers often rely heavily upon heuristics or, due to the combinatorial structure in the dynamics, are unsuitable for real-time control. Principled deployment of tactile sensors offers a promising mechanism for stable and robust control, but modern approaches often use this data in an ad hoc manner, for instance to guide guarded moves. This framework can close the loop on tactile sensors and it is non-combinatorial, enabling optimization algorithms to automatically synthesize provably stable control policies. We demonstrate this approach on multiple numerical examples, including quasi-static friction problems and a high dimensional problem with ten contacts. We also validate our results on an experimental setup and show the effectiveness of the proposed method on an underactuated multi-contact system.
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