物理约束四足机器人优先多任务运动协调。

IF 10.5 Q1 ENGINEERING, BIOMEDICAL
Cyborg and bionic systems (Washington, D.C.) Pub Date : 2025-03-19 eCollection Date: 2025-01-01 DOI:10.34133/cbsystems.0203
Aizhen Xie, Xuewen Rong, Guoteng Zhang, Yibin Li, Yong Fan, Zhi Li, Teng Chen
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引用次数: 0

摘要

四足操纵器可以用腿模仿有腿的动物穿越非结构化环境。他们还可以使用仿生手臂来执行操作任务。对此类机器人日益增长的需求推动了研究进展。然而,在使用高度自由方面仍然存在挑战性的作品。为了解决这一冗余问题,我们提出了一种基于多任务优先级和零空间投影的运动协调框架。该框架可以考虑3个优先任务,自适应生成机器人不同部位的最优运动。任务包括末端执行器轨迹跟踪、运动重分配以满足物理约束和可操作性增强。然后由一个全身控制器执行运动,该控制器结合了动力学、逆运动学、多目标优先级和力约束。仿真实验和机器人平台实验验证了该算法的优越性和有效性。该机器人能够在误差小于3 cm的情况下,完成鲁棒、精确的空间末端执行器跟踪。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Prioritized Multi-task Motion Coordination of Physically Constrained Quadruped Manipulators.

Quadruped manipulators can use legs to mimic legged animals for crossing unstructured environments. They can also use a bionic arm to execute manipulation tasks. The increasing demands for such robots have pushed research progress. However, there remain challenging works in their usage of a high degree of freedom. To solve this redundant problem, we propose a novel motion coordination framework based on multi-task prioritization and null-space projection. The framework can adaptively generate optimal motion for different parts of the robot considering 3 prioritized tasks. The tasks include end-effector trajectory tracking, motion redistribution to meet physical constraints, and manipulability enhancement. The motion is then executed by a whole-body controller incorporating dynamics, inverse kinematics, multiobjective priorities, and force constraints. Experiments both in simulation and on the robot platform validate the advantages and effectiveness of the algorithm. The robot can finish robust and accurate operational space end-effector tracking with errors less than 3 cm.

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来源期刊
CiteScore
7.70
自引率
0.00%
发文量
0
审稿时长
21 weeks
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