Variable-Frequency Model Learning and Predictive Control for Jumping Maneuvers on Legged Robots

摘要

Achieving both target accuracy and robustness in dynamic maneuvers with long flight phases, such as high or long jumps, has been a significant challenge for legged robots. To address this challenge, we propose a novel learning-based control approach consisting of model learning and model predictive control (MPC) utilizing a variable-frequency scheme. Compared to existing MPC techniques, we learn a model directly from experiments, accounting not only for leg dynamics but also for modeling errors and unknown dynamics mismatch in hardware and during contact. Additionally, learning the model with variable-frequency allows us to cover the entire flight phase and final jumping target, enhancing the prediction accuracy of the jumping trajectory. Using the learned model, we also design variable-frequency to effectively leverage different jumping phases and track the target accurately. In a total of 92 jumps on Unitree A1 robot hardware, we verify that our approach outperforms other MPCs using fixed-frequency or nominal model, reducing the jumping distance error <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$2-8$</tex-math></inline-formula> times. We also achieve jumping distance errors of less than 3% during continuous jumping on uneven terrain with randomly-placed perturbations of random heights (up to 4 cm or 27% the robot's standing height). Our approach obtains distance errors of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$1-2$</tex-math></inline-formula> cm on 34 single and continuous jumps with different jumping targets and model uncertainties.