This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upper body stability. The framework contains a bi-level control strategy. The outer level is a variable damping impedance controller, which optimizes the damping parameters to ensure the stability of the upper body while holding an object. The inner level employs Whole-Body Control (WBC) optimization that integrates real-time terrain estimation based on wheel-foot position and force data. It generates motor torques while accounting for dynamic constraints, joint limits,friction cones, real-time terrain updates, and a model-free friction compensation strategy. The proposed whole-body coordinative control method has been tested on a recently developed quadruped humanoid robot. The results demonstrate that the proposed algorithm effectively controls the robot, maintaining upper body stability to successfully complete a water-carrying task while adapting to varying terrains.

翻译：本文提出了一种用于轮腿式人形机器人的全身阻抗协调控制框架，旨在实现复杂地形适应性的同时保持机器人上半身稳定性。该框架采用双层控制策略：外层为可变阻尼阻抗控制器，通过优化阻尼参数确保机器人持物时上半身的稳定性；内层采用全身控制优化算法，该算法基于轮足位置与力数据进行实时地形估计，在生成电机扭矩时综合考虑动力学约束、关节限位、摩擦锥约束、实时地形更新以及无模型摩擦补偿策略。所提出的全身协调控制方法已在最新研发的四足人形机器人平台上进行验证。实验结果表明，该算法能有效控制机器人，在适应多变地形的过程中保持上半身稳定，成功完成运水任务。