Layered control for cooperative locomotion of two quadrupedal robots: Centralized and distributed approaches

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dc.contributor.authorKim, Jeeseopen
dc.contributor.authorFawcett, Randall T.en
dc.contributor.authorKamidi, Vinay R.en
dc.contributor.authorAmes, Aaron D.en
dc.contributor.authorAkbari Hamed, Kavehen
dc.date.accessioned2023-11-14T15:57:00Zen
dc.date.available2023-11-14T15:57:00Zen
dc.date.issued2023en
dc.date.updated2023-11-14T15:52:07Zen
dc.description.abstractThis 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.en
dc.description.versionAccepted versionen
dc.format.extentPages 1-21en
dc.format.mimetypeapplication/pdfen
dc.identifier.doihttps://doi.org/10.1109/tro.2023.3319896en
dc.identifier.eissn1941-0468en
dc.identifier.issn1552-3098en
dc.identifier.issue99en
dc.identifier.orcidAkbari Hamed, Kaveh [0000-0001-9597-1691]en
dc.identifier.urihttp://hdl.handle.net/10919/116661en
dc.language.isoenen
dc.publisherIEEEen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subject4007 Control Engineering, Mechatronics and Roboticsen
dc.subject40 Engineeringen
dc.subject4010 Engineering Practice and Educationen
dc.titleLayered control for cooperative locomotion of two quadrupedal robots: Centralized and distributed approachesen
dc.title.serialIEEE Transactions on Roboticsen
dc.typeArticle - Refereeden
dc.type.dcmitypeTexten
dc.type.otherArticleen
pubs.organisational-group/Virginia Techen
pubs.organisational-group/Virginia Tech/Engineeringen
pubs.organisational-group/Virginia Tech/Engineering/Mechanical Engineeringen
pubs.organisational-group/Virginia Tech/All T&R Facultyen
pubs.organisational-group/Virginia Tech/Engineering/COE T&R Facultyen

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