论文标题
使用二阶灵敏度分析的四倍运动的非线性模型预测控制
Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis
论文作者
论文摘要
我们提出了四足球运动的多功能非线性模型预测控制（NMPC）公式。我们的公式基于简化的动力学模型，共同优化了基本轨迹和一组立足点。我们利用二阶灵敏度分析和稀疏的高斯 - 纽顿（SGN）方法来解决所得的最佳控制问题。我们进一步描述了通过模拟和硬件实验验证我们的方法的持续努力。最后，我们将运动框架扩展到处理构成差距交叉，踏入石头的运动和多机器人控制的具有挑战性的任务。
We present a versatile nonlinear model predictive control (NMPC) formulation for quadrupedal locomotion. Our formulation jointly optimizes a base trajectory and a set of footholds over a finite time horizon based on simplified dynamics models. We leverage second-order sensitivity analysis and a sparse Gauss-Newton (SGN) method to solve the resulting optimal control problems. We further describe our ongoing effort to verify our approach through simulation and hardware experiments. Finally, we extend our locomotion framework to deal with challenging tasks that comprise gap crossing, movement on stepping stones, and multi-robot control.
