论文标题
基于模板的全身控制的近似模拟
Approximate Simulation for Template-Based Whole-Body Control
论文作者
论文摘要
减少订购模板模型被广泛用于控制高度的腿部机器人，但是现有的基于模板的全身控制的方法在很大程度上取决于启发式方法，并且经常遭受鲁棒性问题。在这封信中，我们提出了一种基于模板的全身控制方法，该方法基于近似模拟的正式框架。我们的核心贡献是说明如何利用刚体动力学的哈密顿结构来建立高维非线性系统的近似模拟。与基于QP的方法相比，最终的控制器是被动的，更强大，可以推动干扰，不均匀的地形和建模错误，并且自然可以实现高质量步行中心。我们的理论结果通过30个自由度女武神类人生物模型的模拟实验支持。
Reduced-order template models are widely used to control high degree-of-freedom legged robots, but existing methods for template-based whole-body control rely heavily on heuristics and often suffer from robustness issues. In this letter, we propose a template-based whole-body control method grounded in the formal framework of approximate simulation. Our central contribution is to demonstrate how the Hamiltonian structure of rigid-body dynamics can be exploited to establish approximate simulation for a high-dimensional nonlinear system. The resulting controller is passive, more robust to push disturbances, uneven terrain, and modeling errors than standard QP-based methods, and naturally enables high center of mass walking. Our theoretical results are supported by simulation experiments with a 30 degree-of-freedom Valkyrie humanoid model.
