基于HT-LIP模型的未知垂直地面运动下四足机器人运动的鲁棒控制
HT-LIP Model based Robust Control of Quadrupedal Robot Locomotion under Unknown Vertical Ground Motion
AI总结：
提出一种基于HT-LIP模型的分层控制框架，通过可证明稳定的落脚点控制器和二次规划，实现四足机器人在未知垂直动态表面上的鲁棒运动。
摘要：
本文提出了一种分层控制框架，能够在具有一般且未知垂直运动的动态刚性表面（DRS）上实现鲁棒的四足运动。该框架的关键创新在于其高层，这是一个离散时间、可证明稳定的落脚点控制器。落脚点控制器的基础是一个新的混合、时变、线性倒立摆（HT-LIP）模型，该模型是低维的，并能准确捕捉DRS运动期间的基本机器人动力学。随后推导出一组新的充分稳定性条件，以直接指导控制器设计，从而确保在一般、未知、垂直DRS运动下HT-LIP模型的渐近稳定性。此外，落脚点控制器被构建为一个计算高效的二次规划，该规划结合了所提出的HT-LIP模型和稳定性条件。中间层以高层生成的期望落脚点位置作为输入，生成运动学上可行的全身参考轨迹，然后由低层力矩控制器准确跟踪。在Unitree Go1四足机器人上的硬件实验证实了所提出框架在各种未知、非周期、垂直DRS运动和不确定性（例如，湿滑和不平表面、固体和液体负载以及突然推力）下的鲁棒性。
英文摘要：
This paper presents a hierarchical control framework that enables robust quadrupedal locomotion on a dynamic rigid surface (DRS) with general and unknown vertical motions. The key novelty of the framework lies in its higher layer, which is a discrete-time, provably stabilizing footstep controller. The basis of the footstep controller is a new hybrid, time-varying, linear inverted pendulum (HT-LIP) model that is low-dimensional and accurately captures the essential robot dynamics during DRS locomotion. A new set of sufficient stability conditions are then derived to directly guide the controller design for ensuring the asymptotic stability of the HT-LIP model under general, unknown, vertical DRS motions. Further, the footstep controller is cast as a computationally efficient quadratic program that incorporates the proposed HT-LIP model and stability conditions. The middle layer takes the desired footstep locations generated by the higher layer as input to produce kinematically feasible full-body reference trajectories, which are then accurately tracked by a lower-layer torque controller. Hardware experiments on a Unitree Go1 quadrupedal robot confirm the robustness of the proposed framework under various unknown, aperiodic, vertical DRS motions and uncertainties (e.g., slippery and uneven surfaces, solid and liquid loads, and sudden pushes).
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。
