基于全质心非线性模型预测控制的Tachyon 3伸缩式轮腿多功能运动
Versatile Telescopic-Wheeled-Legged Locomotion of Tachyon 3 via Full-Centroidal Nonlinear Model Predictive Control
AI总结：
针对伸缩式轮腿机器人Tachyon 3的硬件结构控制难题，提出带专用约束的全质心NMPC及含内部状态积分器的控制流水线，经仿真与硬件实验验证，可在严苛约束下实现平滑动态运动生成。
摘要：
本文提出了一种非线性模型预测控制（NMPC）方法，用于为伸缩式轮腿机器人Tachyon 3生成多功能运动，该机器人独特的硬件结构给控制和运动规划带来了挑战。我们采用带有专用约束的全质心NMPC公式，能够捕捉Tachyon 3精确的运动学和动力学特性。我们开发了一套包含内部状态积分器的控制流水线，以将NMPC应用于采用高增益位置控制器的Tachyon 3执行器。我们在结构化地形上对Tachyon 3的感知运动进行了仿真和硬件实验，结果表明，所提方法能够在严苛的物理和环境约束下实现平滑且动态的运动生成。
英文摘要：
This paper presents a nonlinear model predictive control (NMPC) toward versatile motion generation for the telescopic-wheeled-legged robot Tachyon 3, the unique hardware structure of which poses challenges in control and motion planning. We apply the full-centroidal NMPC formulation with dedicated constraints that can capture the accurate kinematics and dynamics of Tachyon 3. We have developed a control pipeline that includes an internal state integrator to apply NMPC to Tachyon 3, the actuators of which employ high-gain position-controllers. We conducted simulation and hardware experiments on the perceptive locomotion of Tachyon 3 over structured terrains and demonstrated that the proposed method can achieve smooth and dynamic motion generation under harsh physical and environmental constraints.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
