论文标题
双皮机器人步态生成的拓扑方法
A Topological Approach to Gait Generation for Biped Robots
论文作者
论文摘要
本文介绍了一种拓扑方法，用于产生开放式和闭环步行步态家庭的家庭，用于未经配置不平等约束，物理自治约束（例如，闭环链接）（例如，通过反馈控制）强制执行的2D和3D双只能步行者。我们的方法构造了在状态时间控制空间内可行的周期步态的隐式歧管，该空间参数化了双头的混合轨迹。由于双头的平衡构型通常属于这种歧管，因此我们将均衡作为“模板”来种植步态家族。平衡是步态家族建设的可靠种子，消除了在优化框架中可行轨迹上对随机，直觉或生物启发的初始猜测的需求。我们演示了几个2d和3d的步行者的方法。
This paper describes a topological approach to generating families of open- and closed-loop walking gaits for underactuated 2D and 3D biped walkers subject to configuration inequality constraints, physical holonomic constraints (e.g.,closed-loop linkages), and virtual holonomic constraints (user-defined constraints enforced through feedback control). Our method constructs implicitly-defined manifolds of feasible periodic gaits within a state-time-control space that parameterizes the biped's hybrid trajectories. Since equilibrium configurations of the biped often belong to such manifolds, we use equilibria as "templates" from which to grow the gait families. Equilibria are reliable seeds for the construction of gait families, eliminating the need for random, intuited, or bio-inspired initial guesses at feasible trajectories in an optimization framework. We demonstrate the approach on several 2D and 3D biped walkers.
