论文标题
一个模块化框架，以生成强大的双头运动：从计划到控制
A Modular Framework to Generate Robust Biped Locomotion: From Planning to Control
论文作者
论文摘要
由于其复杂的运动学和动力学，双头机器人本质上是不稳定的。尽管在开发圆润运动方面进行了许多研究，但双向运动的表现仍然远非期望。本文提出了一个基于模型的框架，以生成稳定的双头运动。该框架的核心是一个抽象的动力学模型，该模型由三个质量组成，以考虑姿势腿，躯干和摆动腿的动力学，以最大程度地减少跟踪问题。根据此动态模型，我们提出了一个模块化步行参考轨迹计划者，该计划者考虑了计划所有参考的障碍。此外，该动力学模型用于将控制器作为模型预测控制（MPC）方案制定，该方案可以考虑在系统状态，输入，输出和混合输入输出中的某些约束。通过使用MATLAB执行几个数值模拟来验证所提出框架的性能和鲁棒性。此外，该框架被部署在模拟的扭矩控制的类人动物上，以验证其性能和稳健性。仿真结果表明，所提出的框架能够稳健地产生双头运动。
Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite the many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This paper proposes a model-based framework to generate stable biped locomotion. The core of this framework is an abstract dynamics model which is composed of three masses to consider the dynamics of stance leg, torso and swing leg for minimizing the tracking problems. According to this dynamics model, we propose a modular walking reference trajectories planner which takes into account obstacles to plan all the references. Moreover, this dynamics model is used to formulate the controller as a Model Predictive Control (MPC) scheme which can consider some constraints in the states of the system, inputs, outputs and also mixed input-output. The performance and the robustness of the proposed framework are validated by performing several numerical simulations using MATLAB. Moreover, the framework is deployed on a simulated torque-controlled humanoid to verify its performance and robustness. The simulation results show that the proposed framework is capable of generating biped locomotion robustly.
