Locomotion Control of Quadruped Robots With Online Center of Mass Adaptation and Payload Identification
Most of the controllers for quadruped robots are based on the planning of their centers of mass (CoM), with the assumption that the CoM locates at the geometrical center of the robot trunk. However, this assumption rarely meets the fact of the robot prototype and introduces apparent influences to th...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9294027/ |
| _version_ | 1818662296844500992 |
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| author | Chao Ding Lelai Zhou Yibin Li Xuewen Rong |
| author_facet | Chao Ding Lelai Zhou Yibin Li Xuewen Rong |
| author_sort | Chao Ding |
| collection | DOAJ |
| description | Most of the controllers for quadruped robots are based on the planning of their centers of mass (CoM), with the assumption that the CoM locates at the geometrical center of the robot trunk. However, this assumption rarely meets the fact of the robot prototype and introduces apparent influences to the system. This article proposes a CoM estimation and adaptation method for quadruped robots in dynamic trot gait based on the model predictive control (MPC) of the trunk. The influences of the CoM offset on the robot states are inherently analyzed. The CoM components on the horizontal plane are taken into consideration and estimated based on the speed errors and the contact force differences, which are compensated to the robot controller. In the case of payload changes, the identification method for the mass of payload is proposed based on the estimated CoM. Simulation results verify that with the proposed approach, the robot successfully adapts to the CoM payload changes while the locomotion is not interrupted, and the state errors are significantly reduced. |
| first_indexed | 2024-12-17T04:58:42Z |
| format | Article |
| id | doaj.art-f530f44fece6495a9e5cf1f652ad288d |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-17T04:58:42Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-f530f44fece6495a9e5cf1f652ad288d2022-12-21T22:02:38ZengIEEEIEEE Access2169-35362020-01-01822457822458710.1109/ACCESS.2020.30449339294027Locomotion Control of Quadruped Robots With Online Center of Mass Adaptation and Payload IdentificationChao Ding0https://orcid.org/0000-0002-4699-6582Lelai Zhou1https://orcid.org/0000-0003-3308-870XYibin Li2https://orcid.org/0000-0002-5906-5074Xuewen Rong3https://orcid.org/0000-0003-3283-5347Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, ChinaCenter for Robotics, School of Control Science and Engineering, Shandong University, Jinan, ChinaCenter for Robotics, School of Control Science and Engineering, Shandong University, Jinan, ChinaCenter for Robotics, School of Control Science and Engineering, Shandong University, Jinan, ChinaMost of the controllers for quadruped robots are based on the planning of their centers of mass (CoM), with the assumption that the CoM locates at the geometrical center of the robot trunk. However, this assumption rarely meets the fact of the robot prototype and introduces apparent influences to the system. This article proposes a CoM estimation and adaptation method for quadruped robots in dynamic trot gait based on the model predictive control (MPC) of the trunk. The influences of the CoM offset on the robot states are inherently analyzed. The CoM components on the horizontal plane are taken into consideration and estimated based on the speed errors and the contact force differences, which are compensated to the robot controller. In the case of payload changes, the identification method for the mass of payload is proposed based on the estimated CoM. Simulation results verify that with the proposed approach, the robot successfully adapts to the CoM payload changes while the locomotion is not interrupted, and the state errors are significantly reduced.https://ieeexplore.ieee.org/document/9294027/Quadruped robotsmodel predictive controlcenter of mass adaptationmass of payloads |
| spellingShingle | Chao Ding Lelai Zhou Yibin Li Xuewen Rong Locomotion Control of Quadruped Robots With Online Center of Mass Adaptation and Payload Identification IEEE Access Quadruped robots model predictive control center of mass adaptation mass of payloads |
| title | Locomotion Control of Quadruped Robots With Online Center of Mass Adaptation and Payload Identification |
| title_full | Locomotion Control of Quadruped Robots With Online Center of Mass Adaptation and Payload Identification |
| title_fullStr | Locomotion Control of Quadruped Robots With Online Center of Mass Adaptation and Payload Identification |
| title_full_unstemmed | Locomotion Control of Quadruped Robots With Online Center of Mass Adaptation and Payload Identification |
| title_short | Locomotion Control of Quadruped Robots With Online Center of Mass Adaptation and Payload Identification |
| title_sort | locomotion control of quadruped robots with online center of mass adaptation and payload identification |
| topic | Quadruped robots model predictive control center of mass adaptation mass of payloads |
| url | https://ieeexplore.ieee.org/document/9294027/ |
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