LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot With Kinematic Loops

We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento . We derive closed-form expressions for the dynamics of its kinematic loops in a way that readily generalizes to more complex systems. The rolling constraint is incorporated u...

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Bibliographic Details
Published in:IEEE robotics and automation letters Vol. 5; no. 2; pp. 3745 - 3752
Main Authors: Klemm, Victor, Morra, Alessandro, Gulich, Lionel, Mannhart, Dominik, Rohr, David, Kamel, Mina, de Viragh, Yvain, Siegwart, Roland
Format: Journal Article
Language:English
Published: Piscataway IEEE 01.04.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Adaptive control
Complex systems
Controllers
Dynamics
Exact solutions
Kinematics
Lean angle
Legged locomotion
Legged robots
Linear quadratic regulator
Parallel robots
Rigid structures
Rigid-body dynamics
Robot kinematics
Robots
Robust control
robust/adaptive control of robotic systems
Robustness (mathematics)
wheeled robots
Wheels
ISSN:2377-3766, 2377-3766
Online Access:Get full text
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Summary:We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento . We derive closed-form expressions for the dynamics of its kinematic loops in a way that readily generalizes to more complex systems. The rolling constraint is incorporated using a compact analytic solution based on rotation matrices. The non-minimum phase balancing dynamics are accounted for by including a linear-quadratic regulator as a motion task. Robustness when driving curves is increased by regulating the lean angle as a function of the zero-moment point. The proposed controller is computationally lightweight and significantly extends the rough-terrain capabilities and robustness of the system, as we demonstrate in several experiments.
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ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2020.2979625