Abstract
The development of hydraulically driven heavy legs that can withstand external interference for realizing the high-velocity dynamic walking of bipedal robots with eight degrees-of-freedom is challenging. Therefore, in this study, a cascade antidisturbance algorithm was proposed for highly dynamic trajectory tracking based on model prediction and task hierarchical optimization. First, in the upper layer, the time-sharing control framework of under-actuated robots based on the single rigid body model ignoring the legs was designed. Linear model predictive control (MPC) was designed to calculate the contact force spin to control the posture and height of floating base in the stand phase. The desired foot location principle was used to control the forward and lateral velocity in the swing phase. Next, in the lower layer, task hierarchical optimization control (THOC) was designed to track the contact force spin predicted by MPC. The relaxation variable of the force spin was designed in the optimized variable and subsequently used to compensate for the contact force between single rigid body and whole-body dynamic models. Thus, the tie relationship was developed between the upper MPC and lower THOC. The control robustness of the proposed model under high-velocity locomotion and disturbance was verified by performing simulation experiments investigating high-velocity walking and external impact, and the fast walking velocity was increased from 2.15 m/s of nonlinear MPC to 2.5 m/s with accurate velocity tracking.
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Jie Huang received his B.S. and M.S. degrees in mechanical and electrical engineering from Central South University, in 2008 and 2011, respectively, and engaged in technology research and development in Zoomlion Heavy Industry Science and Technology Co., Ltd. from 2011 to 2017, then received a Ph.D. degree from National University of Defense Technology (NUDT) in 2021. His research interests include legged robot trajectory optimization, high-performance motion control, and formation control.
Huajie Hong received his Ph.D. degree from National University of Defense Technology. His research interests include key technologies such as optimal design and manufacturing of electromechanical servomechanics, embeded electromechanical control systems, optical-electromechanical integration mechanisms and control, and optical image tracking control theory and algorithm.
Nan Wang received his B.S. degree in automatic control from the College of Mechatronics and Automation, National University of Defense Technology (NUDT), Changsha, China, in 2003, and his M.S. and Ph.D. degrees in control science and engineering from the College of Mechatronics and Automation, NUDT, in 2005 and 2012, respectively, where he is currently an Associate Professor with the College of Intelligence Science and Technology. He has published more than ten articles in international journals and conferences and has coauthored one book. His research interests include mission planning, autonomous control, and collaboration of unmanned systems. He has served as an Academic Editor for the Tactical Missile Technology.
Hongxu Ma received his B.S. degree in automatic control in 1988, an M.S. degree in intelligent control in 1991, a Ph.D. degree in control science and control engineering from National University of Defense Technology in 1995. In 1995, he stayed in the school for research work. He is currently a professor at the National University of Defense Technology. He is mainly engaged in the research of foot robots. In 2000, he realized the dynamic walking of Chinese two-legged robots for the first time. He has published more than 150 high-level academic papers, published 1 monograph, and authorized more than 10 patents.
Honglei An received his B.S., M.S., and Ph.D. degrees from National University of Defense Technology, in 2006, 2009, and 2013, respectively. From 2013 to 2019, he is a lecturer in NUDT. His research interests include legged robot control, nonlinear control theory, and optimal control application.
Lin Lang received his B.S., M.S., and Ph.D. degrees from National University of Defense Technology, in 2006, 2009, and 2016, respectively. From 2018, he is a lecturer in Hunan University of Finance and Economics. His research interests include legged robot control and nonlinear control theory.
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Huang, J., Hong, H., Wang, N. et al. Cascade Antidisturbance Control of Hydraulically Driven Bipedal Robots for High Dynamic Locomotion by Using Model Prediction and Task Hierarchical Optimization. Int. J. Control Autom. Syst. 22, 1371–1384 (2024). https://doi.org/10.1007/s12555-021-1105-x
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DOI: https://doi.org/10.1007/s12555-021-1105-x