论文标题
Harpy的性能满意度，这是推进器辅助的两足机器人
Performance satisfaction in Harpy, a thruster-assisted bipedal robot
论文作者
论文摘要
我们将报告我们为设计反馈的努力，用于推进器辅助步行的双皮亚机器人。我们将假设对经过良好的监督控制器进行审议，并将专注于微调所需的联合轨迹，以满足所寻求的性能。为此，我们将根据参考调查员的新兴思想设计一个中介过滤器。由于这些修改和影响事件导致与所需的周期轨道偏离偏差，因此我们将通过在步态周期的双支持阶段在短时间内应用预测方案来保证以强大的方式以强大的方式进行混合不变性。为了达到混合不变性，我们将利用机器人（即推进器）中的独特功能。
We will report our efforts in designing feedback for the thruster-assisted walking of a bipedal robot. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the desired joint trajectories to satisfy the performance being sought. In doing this, we will devise an intermediary filter based on the emerging idea of reference governors. Since these modifications and impact events lead to deviations from the desired periodic orbits, we will guarantee hybrid invariance in a robust fashion by applying predictive schemes within a short time envelope during the double support phase of a gait cycle. To achieve the hybrid invariance, we will leverage the unique features in our robot, i.e., the thruster.
