Integrated Modeling and Control Optimization of Biped Wheel-Legged Robot

IF 4.6 2区计算机科学 Q2 ROBOTICS

IEEE Robotics and Automation Letters Pub Date : 2024-12-25 DOI:10.1109/LRA.2024.3522773

Junze Yang;Qiuxuan Wu;Shenao Li;Yuejun Ye;Cenfeng Luo

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引用次数: 0

Abstract

Biped wheel-legged robot is an important configuration of ground mobile robot. In the existing research, in order to deploy the model on an embedded system with limited computing power, the balance control of the robot is usually decoupled from the body posture and steering, which reduces the control coordination of the robot. In order to solve the above problems, firstly, the novel Full-State Dynamics Model(FSDM) is introduced, and the model is linearized by Taylor expansion and solving the limit of multivariate function. Secondly, a novel Forward Kinematics(FK) solution method based on trajectory equation is proposed for Virtual Model Control(VMC). Compared with the general FK solution method, it can further significantly improve the calculation speed of VMC on the embedded platform. Furthermore, the Linear Quadratic Regulator(LQR) controller is optimized, and the weight matrix value can be automatically adjusted according to the error of the state variable. At the same time, simulation results show that the motion performance of the robot can be improved by actively adjusting the posture. Therefore, an adaptive LQR controller, a steering compensator and a gravity compensator are designed. Simulation and physical experimental results verify the effectiveness of the proposed model, controller and control strategy.

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两足轮腿机器人集成建模与控制优化

两足轮腿机器人是地面移动机器人的重要组成部分。在现有的研究中，为了将模型部署在计算能力有限的嵌入式系统上，通常将机器人的平衡控制与身体姿态和转向解耦，从而降低了机器人的控制协调性。为了解决上述问题，首先引入了一种新的全状态动力学模型（FSDM），并通过Taylor展开和求解多元函数极限对模型进行线性化处理。其次，提出了一种基于轨迹方程的虚拟模型控制（VMC）正解方法。与一般的FK求解方法相比，该方法可以进一步显著提高嵌入式平台上VMC的计算速度。进一步，对线性二次型调节器（LQR）控制器进行了优化，使其能根据状态变量的误差自动调整权矩阵的值。同时，仿真结果表明，主动调整姿态可以提高机器人的运动性能。为此，设计了自适应LQR控制器、转向补偿器和重力补偿器。仿真和物理实验结果验证了所提模型、控制器和控制策略的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Robotics and Automation Letters Computer Science-Computer Science Applications

CiteScore

9.60

自引率

15.40%

发文量

1428

期刊介绍： The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.