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Robust push recovery by whole-body dynamics control with extremal accelerations

Published online by Cambridge University Press:  28 August 2013

Xuechao Chen,
Qiang Huang,
Zhangguo Yu and
Yuepin Lu
Xuechao Chen
Affiliation:
The Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, P. R. ChinaKey Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, P. R. ChinaKey Laboratory of Intelligent Control and Decision of Complex System, Beijing, P. R. ChinaThe Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA
Qiang Huang
Affiliation:
The Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, P. R. ChinaKey Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, P. R. ChinaKey Laboratory of Intelligent Control and Decision of Complex System, Beijing, P. R. China
Zhangguo Yu
Affiliation:
The Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, P. R. ChinaKey Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, P. R. ChinaKey Laboratory of Intelligent Control and Decision of Complex System, Beijing, P. R. China
Yuepin Lu*
Affiliation:
School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, P. R. China
*
*Corresponding author. E-mail: luyuepin@126.com.
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Summary

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This paper presents a whole-body dynamics controller for robust push recovery on a force-controlled bipedal robot. Featherstone's spatial vector method is used to deduce dynamics formulas. We reveal a relationship between the accelerations of the floating base and the desired external forces needed for those accelerations. Introducing constraints on the desired external forces causes corresponding constraints on the accelerations. Quadratic programming is applied to find the extremal accelerations, which recover the robot from pushes as best as possible. A robustness criterion is proposed based on the linear inverted pendulum model to evaluate the performance of push recovery methods quantitatively. We evaluate four typical push recovery methods and the results show that our method is more robust than these. The effectiveness of the proposed method is demonstrated by push recovery in simulations.

Keywords

Push recoveryWhole-body dynamicsBipedal robotForce controlQuadratic programming

Information

Type
Articles
Information
Robotica , Volume 32 , Issue 3 , May 2014, pp. 467 - 476
Copyright
Copyright © Cambridge University Press 2013 

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