论文标题
迈向推进器辅助双足动力，以提高效率和鲁棒性
Towards thruster-assisted bipedal locomotion for enhanced efficiency and robustness
论文作者
论文摘要
在本文中，我们将报告我们在设计闭环反馈方面的努力，用于推进器辅助步行的双足机器人。我们将假设对良好的监督控制者进行，并将专注于微调所需的轨迹以满足所寻求的性能。为此，我们将根据参考调查员设计一个中介过滤器，以保证对性能相关约束的满意度。由于这些修改和影响事件会导致与所需的周期轨道偏离偏差，因此我们将通过在步态周期中使用非常短的时间来应用预测方案，以稳健的方式保证混合不变性。为了达到混合不变性，我们将利用模型中的独特功能，即推进器。我们方法的优点是，与现有的基于优化的非线性控制方法不同，在单个支持阶段满足与性能相关的约束不依赖昂贵的数字方法。此外，提议的推进器辅助步态控制的总体结构允许在步态周期的特定部分中利用性能和鲁棒性增强功能，这是不寻常的，并且以前没有报道。
In this paper, we will report our efforts in designing closed-loop feedback for the thruster-assisted walking of bipedal robots. We will assume for well-tuned supervisory controllers and will focus on fine-tuning the joints desired trajectories to satisfy the performance being sought. In doing this, we will devise an intermediary filter based on reference governors that guarantees the satisfaction of performance-related constraints. Since these modifications and impact events lead to deviations from the desired periodic orbits, we will guarantee hybrid invariance in a robust way by applying predictive schemes withing a very short time envelope during the gait cycle. To achieve the hybrid invariance, we will leverage the unique features in our model, that is, the thrusters. The merit of our approach is that unlike existing optimization-based nonlinear control methods, satisfying performance-related constraints during the single support phase does not rely on expensive numeric approaches. In addition, the overall structure of the proposed thruster-assisted gait control allows for exploiting performance and robustness enhancing capabilities during specific parts of the gait cycle, which is unusual and not reported before.
