This paper presents a nonlinear model predictive control (NMPC) toward versatile motion generation for the telescopic-wheeled-legged robot Tachyon 3, the unique hardware structure of which poses challenges in control and motion planning. We apply the full-centroidal NMPC formulation with dedicated constraints that can capture the accurate kinematics and dynamics of Tachyon 3. We have developed a control pipeline that includes an internal state integrator to apply NMPC to Tachyon 3, the actuators of which employ high-gain position-controllers. We conducted simulation and hardware experiments on the perceptive locomotion of Tachyon 3 over structured terrains and demonstrated that the proposed method can achieve smooth and dynamic motion generation under harsh physical and environmental constraints.

翻译：本文提出了一种面向伸缩轮腿机器人Tachyon 3多功能运动生成的非线性模型预测控制(NMPC)方法。该机器人的独特硬件结构对其控制与运动规划提出了挑战。我们采用包含专用约束的全质心NMPC公式，该公式能够精确描述Tachyon 3的运动学与动力学特性。我们开发了一套控制流水线，其中包含内部状态积分器以将NMPC应用于采用高增益位置控制器执行器的Tachyon 3。我们针对Tachyon 3在结构化地形上的感知运动进行了仿真与硬件实验，证明所提方法能够在严苛的物理与环境约束下实现平滑且动态的运动生成。