论文标题
3D跳机器人的非线性模型预测控制：利用谎言组积分器的动态稳定行为
Nonlinear Model Predictive Control of a 3D Hopping Robot: Leveraging Lie Group Integrators for Dynamically Stable Behaviors
论文作者
论文摘要
在动态腿部运动领域，实现稳定的跳跃一直是一个标志性的挑战。受控跳跃非常困难，因为长期不足的时间不足，加上非常短的地面阶段，必须调节地面相互作用以调节全球状态。在这项工作中，我们探讨了混合非线性模型预测控制与多速率层次结构中低级反馈控制器配对的使用，以在3D跳架机器人上实现动态稳定的运动。为了在旋转的多种情况下展示更丰富的行为，规划层和反馈层都必须以几何一致的方式设计。因此，我们开发了使用谎言组集成商和适当的反馈控制器的必要工具。我们在实验中证明了稳定的3D跳跃，以及模拟中的轨迹跟踪和翻转。
Achieving stable hopping has been a hallmark challenge in the field of dynamic legged locomotion. Controlled hopping is notably difficult due to extended periods of underactuation combined with very short ground phases wherein ground interactions must be modulated to regulate global state. In this work, we explore the use of hybrid nonlinear model predictive control paired with a low-level feedback controller in a multi-rate hierarchy to achieve dynamically stable motions on a 3D hopping robot. In order to demonstrate richer behaviors on the manifold of rotations, both the planning and feedback layers must be designed in a geometrically consistent fashion; therefore, we develop the necessary tools to employ Lie group integrators and appropriate feedback controllers. We experimentally demonstrate stable 3D hopping, as well as trajectory tracking and flipping in simulation.
