用墙壁接触实现灵活移动，无需额外硬件
Wallbounce : Push wall to navigate with Contact-Implicit MPC
- 通过双层隐式接触规划与模型预测控制实现非周期接触运动
- 实验证明机械臂接触可实现加速、减速与动态避障
- 适合研究新型机器人构型与低硬件复杂度运动控制的团队
本文提出一种框架，利用非周期性接触实现高机动性行走。传统优化与规划方法难以实时指定接触模式序列，为此我们采用双层接触隐式规划器与混合模型预测控制器来生成并执行运动规划。研究以shmoobot（小型球形机器人）为例，该机器人通过逆鼠标球驱动实现动态平衡，仅需少量执行器。实验表明，机械臂接触可实现仅靠鼠标球驱动无法完成的加速、减速及动态障碍规避。结果证明，通过整体化运动设计，可不增加硬件成本而显著提升独特机器人形态的控制能力，充分利用通常仅用于操作的机械臂。
原文摘要 · Abstract (English)
In this work, we introduce a framework that enables highly maneuverable locomotion using non-periodic contacts. This task is challenging for traditional optimization and planning methods to handle due to difficulties in specifying contact mode sequences in real-time. To address this, we use a bi-level contact-implicit planner and hybrid model predictive controller to draft and execute a motion plan. We investigate how this method allows us to plan arm contact events on the shmoobot, a smaller ballbot, which uses an inverse mouse-ball drive to achieve dynamic balancing with a low number of actuators. Through multiple experiments we show how the arms allow for acceleration, deceleration and dynamic obstacle avoidance that are not achievable with the mouse-ball drive alone. This demonstrates how a holistic approach to locomotion can increase the control authority of unique robot morpohologies without additional hardware by leveraging robot arms that are typically used only for manipulation. Project website: https://cmushmoobot.github.io/Wallbounce
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