论文标题
对携带重载的四足移动操纵器的轨迹优化
Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy Payload
论文作者
论文摘要
本文介绍了简化的基于模型的轨迹优化（TO），用于针对四足动物的移动操纵器进行运动计划，该操作量载有大量已知质量的有效载荷。拟议的有效负载感知配方同时计划运动，有效负载操纵并考虑机器人和有效载荷模型动态，同时保持计算有效。在有效载荷的情况下，该方法表现出减少的腿部伸展（从而增加了可操作性），因此由于有效载荷操纵在优化方面的贡献，运动学上要求的动作减少了。该框架的计算效率和性能通过多项模拟和实验研究得到验证，双手四倍的半人车机器人携带其手臂的有效载荷超过其质量的15％，并穿越了非平板地形。
This paper presents a simplified model-based trajectory optimization (TO) formulation for motion planning on quadruped mobile manipulators that carry heavy payload of known mass. The proposed payload-aware formulation simultaneously plans locomotion, payload manipulation and considers both robot and payload model dynamics while remaining computationally efficient. At the presence of heavy payload, the approach exhibits reduced leg outstretching (thus increased manipulability) in kinematically demanding motions due to the contribution of payload manipulation in the optimization. The framework's computational efficiency and performance is validated through a number of simulation and experimental studies with the bi-manual quadruped CENTAURO robot carrying on its arms a payload that exceeds 15 % of its mass and traversing non-flat terrain.
