用简化模型与优化算法，让机器人在40度斜坡上稳定行走。
Enabling steep slope walking on Husky using reduced order modeling and quadratic programming
- 基于修正的变长倒立摆模型，假设零力矩点固定。
- 40度斜坡下仿真成功，验证了推力与腿部牵引力协同作用。
- 适合研究飞行-行走复合机器人控制的学者参考。
某些幼鸟表现出的翼辅助倾斜奔跑（WAIR）是一种极具吸引力的运动方式，可拓展至腿式飞行系统。本文提出一种控制方法，通过修正变长倒立摆（VLIP）模型，假设零力矩点固定且推进力与质心共点。采用二次规划模型预测控制（QP MPC）求解最优地面反作用力与推进力，以跟踪参考位置和速度轨迹。在40度斜坡上的仿真结果显示，可通过姿态调节获得所需推进力，揭示了推进器与腿部牵引力协同作用使WAIR在推进辅助型腿式系统中成为可能的机理。
原文摘要 · Abstract (English)
Wing-assisted inclined running (WAIR) observed in some young birds, is an attractive maneuver that can be extended to legged aerial systems. This study proposes a control method using a modified Variable Length Inverted Pendulum (VLIP) by assuming a fixed zero moment point and thruster forces collocated at the center of mass of the pendulum. A QP MPC is used to find the optimal ground reaction forces and thruster forces to track a reference position and velocity trajectory. Simulation results of this VLIP model on a slope of 40 degrees is maintained and shows thruster forces that can be obtained through posture manipulation. The simulation also provides insight to how the combined efforts of the thrusters and the tractive forces from the legs make WAIR possible in thruster-assisted legged systems.
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