论文标题
使用人类全身动态端粒运动的双足机器人步行控制
Bipedal Robot Walking Control Using Human Whole-Body Dynamic Telelocomotion
论文作者
论文摘要
对于诸如搜索和救援之类的苛刻情况下，人形生物的部署，高度智能的决策和熟练的感觉运动技能。一个有前途的解决方案是通过远程运行将机器人和人类相互连接来利用人类的实力。为了创建无缝的操作，本文提出了一个动态的远程组分框架，该框架将人类飞行员的步态与双足机器人的步行同步。首先，我们介绍了一种方法，以从人类飞行员的垫脚行为中生成虚拟人步行模型，该模型是机器人行走的参考。其次，步行参考和机器人行走的动力学通过向人类飞行员和机器人施加力来同步，以实现两个系统之间的动态相似性。这使得人类飞行员能够不断感知并取消步行参考和机器人之间的任何异步。得出了通过步骤过渡来维持动态相似性的一致的步骤放置策略。使用我们的人机界面，我们证明了人类飞行员可以通过实地，步行和干扰拒绝实验来实现模拟机器人的稳定和同步的近距离运行。这项工作为将人类智力和反射转移到人形机器人方面提供了基本的一步。
For humanoids to be deployed in demanding situations, such as search and rescue, highly intelligent decision making and proficient sensorimotor skill is expected. A promising solution is to leverage human prowess by interconnecting robot and human via teleoperation. Towards creating seamless operation, this paper presents a dynamic telelocomotion framework that synchronizes the gait of a human pilot with the walking of a bipedal robot. First, we introduce a method to generate a virtual human walking model from the stepping behavior of a human pilot which serves as a reference for the robot to walk. Second, the dynamics of the walking reference and robot walking are synchronized by applying forces to the human pilot and the robot to achieve dynamic similarity between the two systems. This enables the human pilot to continuously perceive and cancel any asynchrony between the walking reference and robot. A consistent step placement strategy for the robot is derived to maintain dynamic similarity through step transitions. Using our human-machine-interface, we demonstrate that the human pilot can achieve stable and synchronous teleoperation of a simulated robot through stepping-in-place, walking, and disturbance rejection experiments. This work provides a fundamental step towards transferring human intelligence and reflexes to humanoid robots.
