slippery terrains上四足机器人的两层自适应轨迹跟踪控制器
Two-layer adaptive trajectory tracking controller for quadruped robots on slippery terrains
AI总结：
针对四足机器人在湿滑地形上因腿部不稳定接触导致的控制难题，提出一种包含两层优先适应机制的自适应轨迹跟踪控制器，以避免单腿或多腿滑动，并通过仿真和实验验证了其有效性。
摘要：
四足机器人的任务空间轨迹跟踪在非结构化环境中实现灵巧机动方面发挥着至关重要的作用。为了实现这一控制目标，机器人应通过腿与支撑面的接触施加力，同时保持其稳定性和可控性。为了确保机器人在这些条件下的运行，必须考虑到当机器人在部分或全局湿滑地形上运行时，腿部可能出现不稳定接触的可能性。在这项工作中，我们提出了一种用于四足机器人的自适应轨迹跟踪控制器，该控制器包含两层优先适应机制，以避免一条或多条腿可能出现的滑动。该自适应框架通过仿真进行了评估，并通过实验进行了验证。
英文摘要：
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the supporting surface, while maintaining its stability and controllability. In order to ensure the operation of the robot under these conditions, one has to account for the possibility of unstable contact of the legs that arises when the robot operates on partially or globally slippery terrains. In this work, we propose an adaptive trajectory tracking controller for quadruped robots, which involves two prioritized layers of adaptation for avoiding possible slippage of one or multiple legs. The adaptive framework is evaluated through simulations and validated through experiments.
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