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Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach

Akbari Hamed, Kaveh and Kamidi, Vinay R. and Pandala, Abhishek and Ma, Wen-Loong and Ames, Aaron D. (2020) Distributed Feedback Controllers for Stable Cooperative Locomotion of Quadrupedal Robots: A Virtual Constraint Approach. In: 2020 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 5314-5321. https://resolver.caltech.edu/CaltechAUTHORS:20190626-092917746

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Abstract

This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation of objects during locomotion. In addressing this problem, the complex hybrid dynamical models that describe collaborative legged locomotion are studied. The complex periodic orbits (i.e., gaits) of these sophisticated and high-dimensional hybrid systems are investigated. We consider a set of virtual constraints that stabilizes locomotion of a single agent. The paper then generates modified and local virtual constraints for each agent that allow stable collaborative locomotion. Optimal distributed feedback controllers, based on nonlinear control and quadratic programming, are developed to impose the local virtual constraints. To demonstrate the power of the analytical foundation, an extensive numerical simulation for cooperative locomotion of two quadrupedal robots with robotic manipulators is presented. The numerical complex hybrid model has 64 continuous-time domains, 192 discrete-time transitions, 96 state variables, and 36 control inputs.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.23919/ACC45564.2020.9147673DOIArticle
http://arxiv.org/abs/1902.03690arXivDiscussion Paper
ORCID:
AuthorORCID
Akbari Hamed, Kaveh0000-0001-9597-1691
Kamidi, Vinay R.0000-0002-4227-6131
Ma, Wen-Loong0000-0002-0115-5632
Ames, Aaron D.0000-0003-0848-3177
Alternate Title:Hierarchical Feedback Control for Complex Hybrid Models of Multiagent Legged Robotic Systems
Additional Information:© 2020 AACC. The work of K. Akbari Hamed is supported by the National Science Foundation (NSF) under Grant Numbers 1854898, 1906727, 1923216, and 1924617. The work of V. R. Kamidi and A. Pandala is supported by the NSF under the Grant Number 1854898. The work of A. D. Ames is supported by the NSF under Grant Numbers 1544332, 1724457, 1724464, 1923239, and 1924526 as well as Disney Research LA. The content is solely the responsibility of the authors and does not necessarily represent the official views of the NSF.
Funders:
Funding AgencyGrant Number
NSFCMMI-1854898
NSFCMMI-1906727
NSFCMMI-1923216
NSFECCS-1924617
NSFCMMI-1854898
NSFCNS-1544332
NSFCNS-1724457
NSFIIS-1724464
NSFCMMI-1923239
NSFECCS-1924526
Disney Research LAUNSPECIFIED
Record Number:CaltechAUTHORS:20190626-092917746
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190626-092917746
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96716
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:26 Jun 2019 16:51
Last Modified:30 Jul 2020 23:35

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