腱驱动软四足机器人的动态建模与MPC控制
Dynamic Modeling and MPC for Locomotion of Tendon-Driven Soft Quadruped
AI总结：
SLOT机器人通过物理信息建模和MPC控制实现柔顺腿部运动学的高效控制与高精度轨迹跟踪。
摘要：
SLOT（软腿部全方位四足机器人），一种采用3D打印TPU腿部的腱驱动软四足机器人，被提出用于研究仅使用四个执行器进行物理信息建模和控制的柔顺腿部运动学。每条腿被建模为可变形连续体，使用离散柯西-里德杆理论，能够捕捉大弯曲变形、分布弹性、肌腱驱动和地面接触相互作用。引入了一个模块化的全身建模框架，其中柔顺腿部动力学通过物理一致的反作用力施加到刚性躯干上，提供了一个可扩展的接口，将连续软肢体与刚体运动动力学联系起来。这种公式允许高效的整体模拟和实时控制，而不会牺牲物理真实性。所提出的模型被嵌入到一个凸模型预测控制框架中，该框架在0.495秒的预测时间范围内优化地面反作用力，并通过物理信息力-角度关系将它们映射到肌腱驱动上。所得到的控制器在各种扰动下实现渐近稳定性。该框架在爬行和行走动作中通过物理原型进行了实验验证，实现了高精度，中心质量轨迹的RMSE小于5毫米。这些结果展示了一种可推广的方法，用于将连续软腿部整合到基于模型的运动控制中，推动了软四足机器人的可扩展和可重用的建模和控制方法。
英文摘要：
SLOT (Soft Legged Omnidirectional Tetrapod), a tendon-driven soft quadruped robot with 3D-printed TPU legs, is presented to study physics-informed modeling and control of compliant legged locomotion using only four actuators. Each leg is modeled as a deformable continuum using discrete Cosserat rod theory, enabling the capture of large bending deformations, distributed elasticity, tendon actuation, and ground contact interactions. A modular whole-body modeling framework is introduced, in which compliant leg dynamics are represented through physically consistent reaction forces applied to a rigid torso, providing a scalable interface between continuum soft limbs and rigid-body locomotion dynamics. This formulation allows efficient whole-body simulation and real-time control without sacrificing physical fidelity. The proposed model is embedded into a convex model predictive control framework that optimizes ground reaction forces over a 0.495 s prediction horizon and maps them to tendon actuation through a physics-informed force-angle relationship. The resulting controller achieves asymptotic stability under diverse perturbations. The framework is experimentally validated on a physical prototype during crawling and walking gaits, achieving high accuracy with less than 5 mm RMSE in center of mass trajectories. These results demonstrate a generalizable approach for integrating continuum soft legs into model-based locomotion control, advancing scalable and reusable modeling and control methods for soft quadruped robots.
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