四足轮腿机器人通过NMPC和DE优化实现跳跃控制
Jumping Control for a Quadrupedal Wheeled-Legged Robot via NMPC and DE Optimization
AI总结：
本文提出了一种结合NMPC和DE优化的四足轮腿机器人跳跃控制方法，实现了多种跳跃动作并验证了其有效性。
摘要：
四足轮腿机器人结合了腿部和轮式运动的优势，以实现卓越的机动性，但执行动态跳跃仍是一个重大挑战，因为轮式腿部引入了额外的自由度。本文开发了一种小型四足轮腿机器人，用于敏捷运动，并提出了一种新的运动控制框架，该框架整合了非线性模型预测控制（NMPC）用于运动控制，以及基于微分进化（DE）的轨迹优化用于四足轮腿机器人的跳跃。所提出的控制器利用轮式运动和运动来增强跳跃性能，实现了垂直跳跃、前进跳跃和后翻等多样化动作。广泛的仿真和现实世界实验验证了该框架的有效性，证明了能够越过0.12米的障碍物并达到0.5米的垂直跳跃。
英文摘要：
Quadrupedal wheeled-legged robots combine the advantages of legged and wheeled locomotion to achieve superior mobility, but executing dynamic jumps remains a significant challenge due to the additional degrees of freedom introduced by wheeled legs. This paper develops a mini-sized wheeled-legged robot for agile motion and presents a novel motion control framework that integrates the Nonlinear Model Predictive Control (NMPC) for locomotion and the Differential Evolution (DE) based trajectory optimization for jumping in quadrupedal wheeled-legged robots. The proposed controller utilizes wheel motion and locomotion to enhance jumping performance, achieving versatile maneuvers such as vertical jumping, forward jumping, and backflips. Extensive simulations and real-world experiments validate the effectiveness of the framework, demonstrating a forward jump over a 0.12 m obstacle and a vertical jump reaching 0.5 m.
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。
