论文标题
推进器辅助中心歧管形状在双足腿运动中
Thruster-assisted center manifold shaping in bipedal legged locomotion
论文作者
论文摘要
这项工作试图为通过推进器辅助运动增强功能的腿部机器人的设计做出贡献。我们的长期目标是开发能够通过合作利用腿和推进器来协商非结构化环境（包括土地和空气）的机器人的开发。这些机器人可用于广泛的应用程序中，包括搜索和救援操作，太空探索，在住宅空间和数字农业中的自动化包处理，仅举几例。在所有这些示例中，推进器辅助移动性的独特功能极大地扩展了这些系统的运动可能性。为了证明推进器在两足球步态的鲁棒化和效率方面的有效性，这项工作探讨了它们对步态极限周期的影响，并提出了基于用强叶塑造这些中心歧管的新设计范式。在最佳控制方案中解决了单方面接触力的可行性条件。
This work tries to contribute to the design of legged robots with capabilities boosted through thruster-assisted locomotion. Our long-term goal is the development of robots capable of negotiating unstructured environments, including land and air, by leveraging legs and thrusters collaboratively. These robots could be used in a broad number of applications including search and rescue operations, space exploration, automated package handling in residential spaces and digital agriculture, to name a few. In all of these examples, the unique capability of thruster-assisted mobility greatly broadens the locomotion designs possibilities for these systems. In an effort to demonstrate thrusters effectiveness in the robustification and efficiency of bipedal locomotion gaits, this work explores their effects on the gait limit cycles and proposes new design paradigms based on shaping these center manifolds with strong foliations. Unilateral contact force feasibility conditions are resolved in an optimal control scheme.
