论文标题
通过飞轮滑动和通过任务空间控制的动量传输的双足动作的顺序运动计划
Sequential Motion Planning for Bipedal Somersault via Flywheel SLIP and Momentum Transmission with Task Space Control
论文作者
论文摘要
在本文中，我们提出了一种顺序运动计划和控制方法，用于在双足机器人上产生翻筋斗。翻筋斗（反弹或前线）被认为是轴向跳动运动与机器人质量中心的旋转运动之间的耦合。这些分别是通过跳跃的倒倒摆（滑动）模型和飞轮的旋转来编码的。因此，我们提出了用于在接地相中产生所需运动的飞轮滑移模型。在飞行阶段，我们提出了一种动量传播方法，以根据质心动量的保护来调整下半身的方向。生成的运动计划通过包括动量的任务空间控制在全维机器人上实现。最后，提出的方法是在模拟中的双足机器人Cassie的修改版本上实现的，其中生成了多个翻筋斗动作。
In this paper, we present a sequential motion planning and control method for generating somersaults on bipedal robots. The somersault (backflip or frontflip) is considered as a coupling between an axile hopping motion and a rotational motion about the center of mass of the robot; these are encoded by a hopping Spring-loaded Inverted Pendulum (SLIP) model and the rotation of a Flywheel, respectively. We thus present the Flywheel SLIP model for generating the desired motion on the ground phase. In the flight phase, we present a momentum transmission method to adjust the orientation of the lower body based on the conservation of the centroidal momentum. The generated motion plans are realized on the full-dimensional robot via momentum-included task space control. Finally, the proposed method is implemented on a modified version of the bipedal robot Cassie in simulation wherein multiple somersault motions are generated.
