Whole-body control with disturbance rejection through a momentum-based observer for quadruped robots☆
| Autor: | Viviana Morlando, Ainoor Teimoorzadeh, Fabio Ruggiero |
|---|---|
| Přispěvatelé: | Morlando, Viviana, Teimoorzadeh, Ainoor, Ruggiero, Fabio |
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Optimization problem Observer (quantum physics) Computer science Mechanical Engineering Estimator Bioengineering 02 engineering and technology Computer Science Applications Dynamic simulation 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Mechanics of Materials Control theory Trajectory Robot Ground reaction force |
| Zdroj: | Mechanism and Machine Theory. 164:104412 |
| ISSN: | 0094-114X |
| DOI: | 10.1016/j.mechmachtheory.2021.104412 |
| Popis: | This paper presents an estimator of external disturbances for legged robots, based on the system’s momentum. The estimator, along with a suitable motion planner for the trajectory of the robot’s center of mass and an optimization problem based on the modulation of ground reaction forces, devises a whole-body controller for the robot. The designed solution is tested on a quadruped robot within a dynamic simulation environment. The quadruped is stressed by external disturbances acting on stance and swing legs indifferently. The proposed approach is also evaluated through a comparison with two state-of-the-art solutions. |
| Databáze: | OpenAIRE |
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