论文标题
通过多接触优化对球的动态腿部操纵
Dynamic Legged Manipulation of a Ball Through Multi-Contact Optimization
论文作者
论文摘要
机器人的脚通常用于设计运动策略，例如平衡，步行和跑步。但是，它们也具有执行操纵任务的巨大潜力。在本文中，我们提出了一个针对四足机器人的模型预测控制（MPC）框架，以动态平衡球，并同时操纵它以遵循各种轨迹，例如直线，正弦曲线，圆圈，圆圈和就地转弯。我们使用不同的步态在Mini Cheetah机器人上进行数值验证控制器，包括小跑，边界和球上的proseking。
The feet of robots are typically used to design locomotion strategies, such as balancing, walking, and running. However, they also have great potential to perform manipulation tasks. In this paper, we propose a model predictive control (MPC) framework for a quadrupedal robot to dynamically balance on a ball and simultaneously manipulate it to follow various trajectories such as straight lines, sinusoids, circles and in-place turning. We numerically validate our controller on the Mini Cheetah robot using different gaits including trotting, bounding, and pronking on the ball.
