论文标题
全球位置控制不足的两足机器人：步骤计划的逐步动态近似
Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning
论文作者
论文摘要
由于机器人的脚步缺乏驱动，全球二手车步行不足的位置控制是一个具有挑战性的问题。在本文中，我们将基于杂种线性的倒置摆（H-LIP）踏上3D射手的两足动物的踩踏以进行全球位置控制。 H-Lip行走的渐进式（S2S）动力学近似于机器人行走的实际S2S动力学，其中阶跃大小被视为输入。因此，基于H-LIP的反馈控制器近似控制机器人的行为，就像H-LIP一样，它们之间的差异保持在误差不变集中。模型预测控制（MPC）应用于3D中的H-LIP进行全局位置控制。然后，H-LIP步进为机器人跟踪所需的步骤尺寸。此外，转弯行为与步骤计划集成在一起。在模拟中，在3D未能的两足机器人Cassie以及概念验证实验中验证了所提出的框架。
Global position control for underactuated bipedal walking is a challenging problem due to the lack of actuation on the feet of the robots. In this paper, we apply the Hybrid-Linear Inverted Pendulum (H-LIP) based stepping on 3D underactuated bipedal robots for global position control. The step-to-step (S2S) dynamics of the H-LIP walking approximates the actual S2S dynamics of the walking of the robot, where the step size is considered as the input. Thus the feedback controller based on the H-LIP approximately controls the robot to behave like the H-LIP, the differences between which stay in an error invariant set. Model Predictive Control (MPC) is applied to the H-LIP for global position control in 3D. The H-LIP stepping then generates desired step sizes for the robot to track. Moreover, turning behavior is integrated with the step planning. The proposed framework is verified on the 3D underactuated bipedal robot Cassie in simulation together with a proof-of-concept experiment.
