论文标题
线步行和平衡腿部脚的腿部机器人
Line Walking and Balancing for Legged Robots with Point Feet
论文作者
论文摘要
腿部系统遍历高度约束的环境的能力在很大程度上取决于其运动和平衡控制器的性能。本文提出了一个在大多数最先进的平衡控制器尚未解决的情况下脱颖而出的控制器：行步行或在几乎无效的支撑区域上行走。我们的方法使用低维虚拟模型（2-DOF）通过先前派生的四项平衡控制器生成平衡动作，并通过派生的运动学映射将它们转换为机器人。该控制器的功能在模拟中进行了测试，在该模拟中，我们通过随时在两英尺上平衡两英尺的同时在沿线移动时，显示了仅6 cm宽度的桥梁的90kg四倍的机器人HYQ（与其4 cm直径的球形脚相比）。最后，我们介绍了初步的实验结果，表明Hyq在两条腿上平衡，同时受到干扰。
The ability of legged systems to traverse highly-constrained environments depends by and large on the performance of their motion and balance controllers. This paper presents a controller that excels in a scenario that most state-of-the-art balance controllers have not yet addressed: line walking, or walking on nearly null support regions. Our approach uses a low-dimensional virtual model (2-DoF) to generate balancing actions through a previously derived four-term balance controller and transforms them to the robot through a derived kinematic mapping. The capabilities of this controller are tested in simulation, where we show the 90kg quadruped robot HyQ crossing a bridge of only 6 cm width (compared to its 4 cm diameter spherical foot), by balancing on two feet at any time while moving along a line. Lastly, we present our preliminary experimental results showing HyQ balancing on two legs while being disturbed.
