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Variable stiffness locomotion with guaranteed stability for quadruped robots traversing uneven terrains
Quadruped robots are widely applied in real-world environments where they have to face the challenges of walking on unknown rough terrains. This paper presents a control pipeline that generates robust and compliant legged locomotion for torque-controlled quadruped robots on uneven terrains. The Cart...
Autores principales: | , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2022
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9465384/ https://www.ncbi.nlm.nih.gov/pubmed/36105760 http://dx.doi.org/10.3389/frobt.2022.874290 |
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author | Zhao, Xinyuan Wu, Yuqiang You, Yangwei Laurenzi, Arturo Tsagarakis, Nikos |
author_facet | Zhao, Xinyuan Wu, Yuqiang You, Yangwei Laurenzi, Arturo Tsagarakis, Nikos |
author_sort | Zhao, Xinyuan |
collection | PubMed |
description | Quadruped robots are widely applied in real-world environments where they have to face the challenges of walking on unknown rough terrains. This paper presents a control pipeline that generates robust and compliant legged locomotion for torque-controlled quadruped robots on uneven terrains. The Cartesian motion planner is designed to be reactive to unexpected early and late contacts using the estimated contact forces. Moreover, we present a novel scheme of optimal stiffness modulation that aims to coordinate desired compliance and tracking performance. It optimizes joint stiffness and contact forces coordinately in a quadratic programming (QP) formulation, where the constraints of non-slipping contacts and torque limits are imposed as well. In addition, the issue of stability under variable stiffness control is solved by imposing a tank-based passivity constraint explicitly. We finally validate the proposed control pipeline on our quadruped robot CENTAURO in experiments on uneven terrains and, through comparative tests, demonstrate the improvements of the variable stiffness locomotion. |
format | Online Article Text |
id | pubmed-9465384 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-94653842022-09-13 Variable stiffness locomotion with guaranteed stability for quadruped robots traversing uneven terrains Zhao, Xinyuan Wu, Yuqiang You, Yangwei Laurenzi, Arturo Tsagarakis, Nikos Front Robot AI Robotics and AI Quadruped robots are widely applied in real-world environments where they have to face the challenges of walking on unknown rough terrains. This paper presents a control pipeline that generates robust and compliant legged locomotion for torque-controlled quadruped robots on uneven terrains. The Cartesian motion planner is designed to be reactive to unexpected early and late contacts using the estimated contact forces. Moreover, we present a novel scheme of optimal stiffness modulation that aims to coordinate desired compliance and tracking performance. It optimizes joint stiffness and contact forces coordinately in a quadratic programming (QP) formulation, where the constraints of non-slipping contacts and torque limits are imposed as well. In addition, the issue of stability under variable stiffness control is solved by imposing a tank-based passivity constraint explicitly. We finally validate the proposed control pipeline on our quadruped robot CENTAURO in experiments on uneven terrains and, through comparative tests, demonstrate the improvements of the variable stiffness locomotion. Frontiers Media S.A. 2022-08-29 /pmc/articles/PMC9465384/ /pubmed/36105760 http://dx.doi.org/10.3389/frobt.2022.874290 Text en Copyright © 2022 Zhao, Wu, You, Laurenzi and Tsagarakis. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Robotics and AI Zhao, Xinyuan Wu, Yuqiang You, Yangwei Laurenzi, Arturo Tsagarakis, Nikos Variable stiffness locomotion with guaranteed stability for quadruped robots traversing uneven terrains |
title | Variable stiffness locomotion with guaranteed stability for quadruped robots traversing uneven terrains |
title_full | Variable stiffness locomotion with guaranteed stability for quadruped robots traversing uneven terrains |
title_fullStr | Variable stiffness locomotion with guaranteed stability for quadruped robots traversing uneven terrains |
title_full_unstemmed | Variable stiffness locomotion with guaranteed stability for quadruped robots traversing uneven terrains |
title_short | Variable stiffness locomotion with guaranteed stability for quadruped robots traversing uneven terrains |
title_sort | variable stiffness locomotion with guaranteed stability for quadruped robots traversing uneven terrains |
topic | Robotics and AI |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9465384/ https://www.ncbi.nlm.nih.gov/pubmed/36105760 http://dx.doi.org/10.3389/frobt.2022.874290 |
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