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Multi-objective Hierarchical Optimal Control for Quadruped Rescue Robot

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Abstract

Timely and efficient rescue missions in disasters such as nuclear accidents, fires, and earthquakes require operating robots to work under high payload. This paper treats the problem of optimal planning and control of a walking-trot gait for a hydraulically actuated quadruped robot that has been developed in a collaborative project of the Departments of Mechanical Engineering and Automation at Shanghai Jiao Tong University. To mitigate the challenges of working with high-fidelity models of this highly complex mechanical system, a kinematics and approximate dynamics model is proposed that is shown to provide an accurate description of the walking motions we wish to study while at the same time being simple enough to support analysis. The proposed model is used to design limb movements in a walking trot gait that balance the trade off between energy consumption and the speed of execution of a desired mission. Bezier curves of different orders are used to design trajectories of the robot’s limbs. We verify the accuracy of the proposed model through experiments with the actual robot. We apply hierarchical optimization method to minimize the energy consumption, and we discuss a Pareto optimal solution that trades off mission duration and energy consumption. In the end perform several experiments to verify the effectiveness and superiority of the optimal algorithm we proposed.

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Authors and Affiliations

Authors

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Correspondence to Shaoyuan Li.

Additional information

Recommended by Associate Editor Sukho Park under the direction of Editor Hyun-Seok Yang. This work was supported by National Basic Research Program of China (973 Program-2013CB035500), and the National Nature Science Foundation of China (61590924, 61521063).

Nan Hu received the B.S. degree from Wuhan Textile University, Wuhan, China, in 2009 and his M.S. degree from University of Shanghai for Science and Technology, Shanghai, China, in 2012. He is currently working toward a Ph.D. degree at Shanghai Jiao Tong University. His research interests include nonlinear control and robot control.

Shaoyuan Li received his B.S. and M.S. degrees from Hebei University of Technology, Tianjin, China, in 1987 and 1992, respectively. And he received his Ph.D. degree from the Department of Computer and System Science of Nankai University, Tianjin, China, in 1997. Now he is a professor with the Institute of Automation of Shanghai Jiao Tong University. His research interests include predictive control, fuzzy system, robot control, sliding mode control, nonlinear control, and so on.

Feng Gao received his B.S. and M.S. degrees from Yanshan University, Qinhuangdao, China, in 1979 and 1982, respectively. And he received his Ph.D. degree from Beihang University, Beijing, China, in 1991. Now he is a professor with the State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University. His research interests include parallel robot design and application.

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Hu, N., Li, S. & Gao, F. Multi-objective Hierarchical Optimal Control for Quadruped Rescue Robot. Int. J. Control Autom. Syst. 16, 1866–1877 (2018). https://doi.org/10.1007/s12555-016-0798-8

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  • DOI: https://doi.org/10.1007/s12555-016-0798-8

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