用几何最优控制方法实现机器人步态平滑过渡
Optimal Control Approach for Gait Transition with Riemannian Splines
- 将步态转换优化转化为边界值问题求解
- 在多种流体环境中生成三连杆泳动器的最优轨迹
- 适合研究机器人运动规划与控制的学者
机器人行走常依赖一系列步态，以高效地将控制输入转化为期望运动。尽管已有大量关于步态优化的研究，但实现平滑且高效的步态转换仍具挑战。本文提出一种基于几何最优控制方法的通用求解器，借鉴先前关于步态效率的研究洞见。在前期工作的基础上，我们将执行轨迹所需的努力表示为独立的几何对象，从而将优化问题转化为边界值问题。为验证该方法，我们在多种流体环境中生成了三连杆泳动器的步态转换轨迹。本工作揭示了机器人运动中最优轨迹的几何特征与力学考量。
原文摘要 · Abstract (English)
Robotic locomotion often relies on sequenced gaits to efficiently convert control input into desired motion. Despite extensive studies on gait optimization, achieving smooth and efficient gait transitions remains challenging. In this paper, we propose a general solver based on geometric optimal control methods, leveraging insights from previous works on gait efficiency. Building upon our previous work, we express the effort to execute the trajectory as distinct geometric objects, transforming the optimization problems into boundary value problems. To validate our approach, we generate gait transition trajectories for three-link swimmers across various fluid environments. This work provides insights into optimal trajectory geometries and mechanical considerations for robotic locomotion.
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