计算机科学
稳健性(进化)
机器人
移动机械手
控制理论(社会学)
运动规划
集合(抽象数据类型)
地铁列车时刻表
编码
模型预测控制
模拟
控制工程
人工智能
移动机器人
工程类
控制(管理)
操作系统
化学
基因
程序设计语言
生物化学
作者
Jean-Pierre Sleiman,Farbod Farshidian,Maria Vittoria Minniti,Marco Hutter
出处
期刊:IEEE robotics and automation letters
日期:2021-07-01
卷期号:6 (3): 4688-4695
被引量:85
标识
DOI:10.1109/lra.2021.3068908
摘要
In this letter, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile manipulator as a switched system, and introduce a set of constraints that can encode any pre-defined gait sequence or manipulation schedule in the formulation. Since the system is designed to actively manipulate its environment, the equations of motion are composed by augmenting the robot's centroidal dynamics with the manipulated-object dynamics. This allows us to describe any high-level task in the same cost/constraint function. The resulting planning framework could be solved on the robot's onboard computer in real-time within a model predictive control scheme. This is demonstrated in a set of real hardware experiments done in free-motion, such as base or end-effector pose tracking, and while pushing/pulling a heavy resistive door. Robustness against model mismatches and external disturbances is also verified during these test cases.
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