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An Optimization-Based Locomotion Controller for Quadruped Robots Leveraging Cartesian Impedance Control.

Guiyang Xin1,2, Wouter Wolfslag1,2, Hsiu-Chin Lin3

  • 1School of Informatics, Institute of Perception, Action and Behaviour, The University of Edinburgh, Edinburgh, United Kingdom.

Frontiers in Robotics and AI
|January 27, 2021
PubMed
Summary
This summary is machine-generated.

This study introduces a new locomotion controller for quadruped robots, enhancing their ability to handle unexpected forces by combining Cartesian impedance control and Quadratic Programming for stable and compliant movement.

Keywords:
impedance controllocomotion controllerprojected inverse-dynamicsquadratic programmingquadruped robots

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Area of Science:

  • Robotics
  • Control Systems
  • Mechanical Engineering

Background:

  • Quadruped robots need compliance for dynamic environments and human interaction.
  • Existing controllers face challenges in balancing performance and physical constraints.

Purpose of the Study:

  • To develop an efficient locomotion controller for quadruped robots.
  • To coordinate tracking performance with desired compliance using Cartesian impedance control.
  • To satisfy physical constraints via Quadratic Programming.

Main Methods:

  • Derived an analytical control law for Cartesian impedance control using projected inverse-dynamics.
  • Formulated a Quadratic Programming (QP) problem to optimize torques under physical constraints.
  • Implemented and tested the controller on the ANYmal robot platform.

Main Results:

  • The controller effectively balances tracking performance and compliance.
  • QP ensures satisfaction of friction cone, unilateral, and torque constraints.
  • The proposed method is more computationally efficient than hierarchical QP controllers.

Conclusions:

  • The developed controller enhances quadruped robot adaptability and robustness.
  • The analytical derivation provides deeper system insights.
  • Experimental results validate the controller's efficiency and performance on challenging terrains.