Optimized Torque-Minimizing Control for Overactuated Quadrupedal Locomotion

核心概念

A modified input-output linearization controller is proposed to efficiently utilize all available actuators and minimize torque expenditure during overactuated phases of quadrupedal locomotion.

摘要

The paper presents a method for controlling quadrupedal robots that utilizes the full-order model of the system and handles overactuated gait phases.

The key highlights are:

1. The original method from Ma et al. (2019) uses offline nonlinear optimal control to synthesize a control scheme that exponentially orbitally stabilizes the closed-loop system. However, it is not able to handle the overactuated phases that frequently occur during quadrupedal locomotion.

2. The proposed modified method handles overactuated gait phases by utilizing the full range of available actuators to minimize torque expenditure without requiring output trajectories to be modified.

3. The modified controller achieves the same exponential orbital stability properties as the original method, but with the same or lower point-wise torque magnitude.

4. Simulation results demonstrate that the reduction in torque and energy expenditure can be substantial in certain cases compared to the original method.

统计

The proposed method reduces the cost of transport by 29.1%, the RMS torque by 17.9%, and the peak torque by 20.7% compared to the original method.

引用

"The modified controller gives the point-wise smallest control signal that results in the desired output-dynamics in the least-squares sense. In the case where the input signal is a torque, this results in a controller which utilizes all available actuators to minimize torque expenditure along the trajectory."
"The increased torque use in hip pitch actuators in our method, however, is seen to lead to substantially lower torque expenditure in all knee actuators compared to the method from Ma et al. (2019). This even distribution of load-bearing between actuators, along with heat-related power losses depending on the square of torque expenditure, explains the significant reduction in CoT."

从中提取的关键见解

Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion

by Mads... 在 arxiv.org 04-08-2024

https://arxiv.org/pdf/2404.04156.pdf

更深入的查询

How can the proposed method be extended to handle uncertainties and disturbances in the system dynamics

To extend the proposed method to handle uncertainties and disturbances in the system dynamics, one approach could be to incorporate robust control techniques. Robust control methods, such as H-infinity control or sliding mode control, can be utilized to design controllers that are resilient to uncertainties in the system parameters or disturbances affecting the robot's locomotion. By augmenting the control allocation scheme with robust control strategies, the system can maintain stability and performance even in the presence of varying external conditions or modeling inaccuracies. Additionally, adaptive control techniques could be employed to continuously adjust the controller parameters based on real-time feedback, allowing the system to adapt to changing environmental conditions or uncertainties in the dynamics.

What are the potential drawbacks or limitations of the least-squares based torque minimization approach compared to other optimization-based control allocation methods

While the least-squares based torque minimization approach offers advantages in terms of energy efficiency and torque reduction, there are potential drawbacks and limitations to consider. One limitation is the reliance on the assumption of a constant rank for the decoupling matrix A(x), which may not hold true in all scenarios or under varying operating conditions. If the rank of A(x) varies significantly, the effectiveness of the least-squares solution may be compromised, leading to suboptimal torque allocation. Additionally, the least-squares approach may not explicitly consider constraints on actuator limits or dynamics, which could result in control signals that exceed hardware limitations or induce undesirable vibrations in the system. Furthermore, the computational complexity of solving the least-squares problem for each time step may pose challenges in real-time implementation, especially for high-dimensional systems with fast dynamics.

What other performance metrics, beyond torque and energy expenditure, could be considered to further improve the overall locomotion efficiency and robustness of the quadrupedal robot

Beyond torque and energy expenditure, several other performance metrics could be considered to enhance the overall locomotion efficiency and robustness of the quadrupedal robot. One important metric is stability margin analysis, which evaluates the system's stability robustness by quantifying how much disturbance or uncertainty the system can tolerate before becoming unstable. By analyzing the stability margins, the controller can be designed to ensure robust stability under varying conditions. Additionally, metrics related to gait symmetry, foot clearance, terrain adaptability, and obstacle avoidance could be incorporated to assess the robot's agility, balance, and adaptability in different locomotion scenarios. By optimizing these additional metrics alongside torque and energy efficiency, the quadrupedal robot can achieve a more comprehensive and robust locomotion performance.