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Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches

Kim, Jeeseop and Fawcett, Randall T. and Kamidi, Vinay R. and Ames, Aaron D. and Akbari Hamed, Kaveh (2022) Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches. . (Unpublished)

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This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based on the single rigid body (SRB) dynamics, is developed for trajectory planning purposes. At the higher level of the control architecture, two different model predictive control (MPC) algorithms are proposed to address the optimal control problem of the interconnected SRB dynamics: centralized and distributed MPCs. The distributed MPC assumes two local quadratic programs that share their optimal solutions according to a one-step communication delay and an agreement protocol. At the lower level of the control scheme, distributed nonlinear controllers are developed to impose the full-order dynamics to track the prescribed reduced-order trajectories generated by MPCs. The effectiveness of the control approach is verified with extensive numerical simulations and experiments for the robust and cooperative locomotion of two holonomically constrained A1 robots with different payloads on variable terrains and in the presence of disturbances. It is shown that the distributed MPC has a performance similar to that of the centralized MPC, while the computation time is reduced significantly.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper
Kim, Jeeseop0000-0003-4028-2359
Fawcett, Randall T.0000-0002-7704-2706
Kamidi, Vinay R.0000-0002-4227-6131
Ames, Aaron D.0000-0003-0848-3177
Akbari Hamed, Kaveh0000-0001-9597-1691
Additional Information:Attribution 4.0 International (CC BY 4.0). The work of J. Kim and K. Akbari Hamed is supported by the National Science Foundation (NSF) under the Grant 1924617. The work of R. T. Fawcett is supported by the NSF under Grant 2128948. The work of A. D. Ames is supported by the NSF under Grant 1924526.
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Record Number:CaltechAUTHORS:20221219-234105589
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:118469
Deposited By: George Porter
Deposited On:21 Dec 2022 19:16
Last Modified:21 Dec 2022 19:16

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