磁感知的腿式机器人控制

中文摘要 AI 辅助

自主机器人可以提高大型科学设施的运行时间并减少人类暴露，但运行所需强磁场会干扰传感器并产生依赖于姿态的机械力矩，从而破坏机器人稳定性并对传统反应式控制器构成挑战。本文提出了一种控制框架，用于建模、估计和动态补偿作用于腿式机器人的空间变化磁力矩，以提高在这些磁场中的鲁棒性。我们为MuJoCo模拟器引入了一个自定义物理插件，用于对刚体元件上的磁力进行建模，同时提出了一种逆场估计框架，直接从四足机器人动态响应和任意数量的传感器读数中推断潜在磁场。此外，我们开发了一种磁感知模型预测控制（MPC）和全身控制（WBC）架构，在运动过程中预测并抵消磁扰动，以扩大机器人可运行的磁场范围。该框架的有效性通过仿真和物理硬件实验得到验证。我们表明，与未补偿系统相比，我们的方法在力空间中最大可拒绝的磁场扰动增加了2.5倍，在力矩空间中增加了1.6-2倍。在所提出的磁场内，这使机器人可运行面积增加了29.34%，其中10.84%的面积此前会导致未补偿控制器立即崩溃。

英文摘要

Autonomous robots can increase uptime and reduce human exposure in Big Science facilities, but strong magnetic fields needed for their operation corrupt sensors and induce pose-dependent mechanical wrenches that destabilize robots and challenge conventional reactive controllers. This paper presents a control framework for modeling, estimating, and dynamically compensating for spatially varying magnetic wrenches acting on legged robots to improve robustness in these fields. We introduce a custom physics plugin for the MuJoCo simulator to model magnetic forces on rigid-body elements, alongside an inverse field-estimation framework to infer the latent magnetic field directly from quadruped dynamic responses and any number of sensor readings. Furthermore, we develop a Magnet-Aware Model Predictive Control (MPC) and Whole-Body Control (WBC) architecture that predicts and counteracts magnetic perturbations during locomotion to increase the range of magnetic fields in which the robot can operate. The effectiveness of the framework is validated through both simulation and physical hardware experiments. We show our method increases the the maximum rejectable disturbances from magnetic field in the force space by a factor of 2.5 and and between 1.6-2 times in torque space compared to a non-compensated system. Within the proposed magnetic field, this constitutes an increase in the area in which the robot can operate by 29,34% of which 10,84% would have previously caused an immediate collapse to non-compensated controllers.

发表机构

• Technical University of Munich (TUM)（慕尼黑工业大学）
• Conseil Européen pour la Recherche Nucléaire (CERN)（欧洲核子研究中心）

机构由 AI 辅助整理，请以论文原文为准。