论文标题
混合轮式跳跃机器人的建模和控制
Modeling and Control of a Hybrid Wheeled Jumping Robot
论文作者
论文摘要
在本文中，我们研究了带有棱镜延伸接头的轮式机器人。这使机器人能够积累动力，可以在失去平衡后越过障碍物并摇摆到直立的位置。我们为这样的两轮跳跃机器人提供了一个模板模型。该型号可以被视为最简单的轮腿系统。我们提供了模型预测控制器（MPC）内使用的系统动力学的分析推导。我们研究模型的行为，并展示了高度动态的动作，例如摇摆和跳跃。此外，这些动作是通过第一原则的优化发现的。我们在模拟器中的各种任务和不均匀的地形上评估控制器。
In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright position after the loss of balance. We propose a template model for the class of such two-wheeled jumping robots. This model can be considered as the simplest wheeled-legged system. We provide an analytical derivation of the system dynamics which we use inside a model predictive controller (MPC). We study the behavior of the model and demonstrate highly dynamic motions such as swing-up and jumping. Furthermore, these motions are discovered through optimization from first principles. We evaluate the controller on a variety of tasks and uneven terrains in a simulator.
