论文标题
符合综合混合零动态步行的逆动力控制
Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking
论文作者
论文摘要
我们在高度不足和兼容的两足动物机器人上以各种速度以各种速度提出了轨迹计划和控制架构。计划脱机的符合步行轨迹的库，并存储为紧凑的多项式系数，用于在线跟踪。控件实现使用浮动基本逆动力学控制器，该控制器会生成动态一致的前馈扭矩，从而使用从轨迹优化获得的信息实现步行。在模拟和硬件中证明了控制器的有效性，用于在平坦的地形和计划外的室外干扰上行走。此外，控制器和优化源代码都在GitHub上提供。
We present a trajectory planning and control architecture for bipedal locomotion at a variety of speeds on a highly underactuated and compliant bipedal robot. A library of compliant walking trajectories are planned offline, and stored as compact arrays of polynomial coefficients for tracking online. The control implementation uses a floating-base inverse dynamics controller which generates dynamically consistent feedforward torques to realize walking using information obtained from the trajectory optimization. The effectiveness of the controller is demonstrated in simulation and on hardware for walking both indoors on flat terrain and over unplanned disturbances outdoors. Additionally, both the controller and optimization source code are made available on GitHub.
