首次将角运动纳入运动规划，让机器人更稳地转体。
Angular Divergent Component of Motion: A step towards planning Spatial DCM Objectives for Legged Robots
- 将线性DCM拓展至1维角运动，用飞轮模型保持线性约束。
- 在MATLAB仿真与TORO人形机器人上验证了3D线性+1D角的协同可行性。
- 适合做足式机器人动态平衡与复杂动作规划的研究者。
本文首次将发散运动分量（DCM）方法扩展至角坐标，提出空间DCM概念，为现有线性DCM理论增加角目标。为融入角分量，论文讨论了从线性倒立摆模型（LIPM）向单刚体模型（SRBM）的扩展，并将旋转动力学简化为飞轮模型以满足线性要求。所提出的1维角DCM在数学上等价于线性DCM，定义为基于角速度超前当前躯干旋转角度的量。该理论被整合进3维线性与1维角的联合框架中，并探讨了同时实现两类目标的可行性。通过MATLAB仿真和在TORO人形机器人上的硬件实验，验证了该框架的有效性。
原文摘要 · Abstract (English)
In this work, the Divergent Component of Motion (DCM) method is expanded to include angular coordinates for the first time. This work introduces the idea of spatial DCM, which adds an angular objective to the existing linear DCM theory. To incorporate the angular component into the framework, a discussion is provided on extending beyond the linear motion of the Linear Inverted Pendulum model (LIPM) towards the Single Rigid Body model (SRBM) for DCM. This work presents the angular DCM theory for a 1D rotation, simplifying the SRBM rotational dynamics to a flywheel to satisfy necessary linearity constraints. The 1D angular DCM is mathematically identical to the linear DCM and defined as an angle which is ahead of the current body rotation based on the angular velocity. This theory is combined into a 3D linear and 1D angular DCM framework, with discussion on the feasibility of simultaneously achieving both sets of objectives. A simulation in MATLAB and hardware results on the TORO humanoid are presented to validate the framework's performance.
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