Dynamic motion of quadrupedal robots on challenging terrain:a kinodynamic optimization approach  

作　　者：Qi LI Lei DING Xin LUO 

机构地区：[1]Engineering Research Center of Hubei Province for Clothing Information,Wuhan 430200,China [2]School of Computer Science and Artificial Intelligence,Wuhan Textile University,Wuhan 430200,China [3]State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,Wuhan 430074,China

出　　处：《Frontiers of Mechanical Engineering》2024年第3期23-40,共18页机械工程前沿（英文版）

基　　金：supported by the Foundation of Engineering Research Center of Hubei Province for Clothing Information,China(Grant No.2023HBCI05);the Hubei Provincial Natural Science Foundation General Program,China(Grant No.2022CFB563);the Hubei Key Laboratory for New Textile Materials and Applications,Wuhan Textile University,China(Grant No.FZXCL202311).

摘　　要：The dynamic motion of quadrupedal robots on challenging terrain generally requires elaborate spatial–temporal kinodynamic motion planning and accurate control at higher refresh rate in comparison with regular terrain.However,conventional quadrupedal robots usually generate relatively coarse planning and employ motion replanning or reactive strategies to handle terrain irregularities.The resultant complex and computation-intensive controller may lead to nonoptimal motions or the breaking of locomotion rhythm.In this paper,a kinodynamic optimization approach is presented.To generate long-horizon optimal predictions of the kinematic and dynamic behavior of the quadruped robot on challenging terrain,we formulate motion planning as an optimization problem;jointly treat the foot’s locations,contact forces,and torso motions as decision variables;combine smooth motion and minimal energy consumption as the objective function;and explicitly represent feasible foothold region and friction constraints based on terrain information.To track the generated motions accurately and stably,we employ a whole-body controller to compute reference position and velocity commands,which are fed forward to joint controllers of the robot’s legs.We verify the effectiveness of the developed approach through simulation and on a physical quadruped robot testbed.Results show that the quadruped robot can successfully traverse a 30°slope and 43% of nominal leg length high step while maintaining the rhythm of dynamic trot gait.

关 键 词：quadrupedal robot kinodynamic planning nonlinear optimization challenging terrain whole-body control 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]