Abstract
This paper develops a compact form dynamics controller to generate multi-compliant behaviors for a new designed tetrapod-on-wheel robot with one manipulator. The whole-body compliant torque controller is stated through one null-space-based convex optimization and compatible null-space-based impedance controllers. Different from fixed contact points of conventional quadruped robots, the kinematic wheel contact constraints are derived for our legged-on-wheel robot, which serves as the basis for each task reference extraction and each compliance controller. The compact relationships between task references and optimization control variables are extracted using null-space-based inverse dynamics, which is used to build the cost function in the operational space and/or in the joint space. The whole-body control frame is developed and several null-space-based feed-back impedance controllers are integrated into the compact relationships to allow the robot to achieve compliance and compensate the model impreciseness, especially the wheel contact model. Then the detailed algorithm is presented whose output combines the feed-forward and feedback torque. The validation of our approach is performed via advanced numerical simulations for a virtual legged-on-wheel robot with one manipulator.
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Du, W., Benamar, F. A compact form dynamics controller for a high-DOF tetrapod-on-wheel robot with one manipulator via null space based convex optimization and compatible impedance controllers. Multibody Syst Dyn 49, 447–463 (2020). https://doi.org/10.1007/s11044-020-09728-y
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DOI: https://doi.org/10.1007/s11044-020-09728-y