Multi-Objective Optimal Torque Control with Simultaneous Motion and Force Tracking for Hydraulic Quadruped Robots

Author:

Shi YapengORCID,He Xiaolong,Zou Wenpeng,Yu Bin,Yuan Lipeng,Li Mantian,Pan Gang,Ba KaixianORCID

Abstract

Model-based force control for motion and force tracking faces significant challenges on real quadruped platforms due to the apparent model inaccuracies. In this paper, we present a multi-objective optimal torque control for hydraulic quadruped robots under significant model errors, such as non-modelable hydraulic components, linearization, disturbances, etc. More specifically, the centroidal dynamics are first modeled to project the dynamics of the floating-based whole-body behaviors to the centroidal frame. Model error compensation mechanisms are subsequently developed to track the reference motion of the CoM, torso, and foot-end trajectories, which are mapped into the joint space. Furthermore, a multi-objective optimal torque control scheme is formulated using quadratic programming (QP) to coordinate follow the reference motion and ground reaction forces simultaneously while satisfying all constraints. Finally, we present a series of simulations as well as experiments on a real hydraulic quadruped platform, EHbot. The results demonstrate that the proposed torque control scheme is robust to large model inaccuracies and improves the performance of the overall system.

Funder

National Natural Science Foundation of China

National Key R&D Program of China

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Control and Optimization,Mechanical Engineering,Computer Science (miscellaneous),Control and Systems Engineering

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