Optimized Wrench Polytope Analysis for Real-Time Stability Control of Legged Robots in Complex Multi-Contact Configurations

2026-09-15

AI Summary

为解决腿式机器人在复杂环境中的行走稳定性问题，提出了一种优化的力矩多边形分析算法，能够在49Hz控制频率下实时计算关节扭矩。

Abstract

Legged robots offer a variety of automation applications in real-world scenarios. But areas that are difficult to traverse, like slopes, caves, or scaffolding, still pose a great challenge for traversal. To tackle this problem, we propose an optimized algorithm for evaluating the full actuatable wrench polytope for arbitrary contact scenarios. With our improved analysis algorithm, the torques for each joint of the robot can be calculated within a control frequency of 49 Hz. The achieved speedup allows for deployment within a regular control loop for actuating robot poses for different contact scenarios. We evaluated our stability controller extensively in simulation scenarios and validated its applicability by deploying it on actual walking robot hardware. The proposed controller achieved stability in very complex scenarios that are currently not achievable by any other controller.

Problem

• Legged Robots
• Stability Control
• Complex Multi-Contact Configurations
• Real-Time

Innovation

• optimized algorithm
• wrench polytope
• real-time stability control
• multi-contact configurations
• legged robots