用数学优化让机器人像鸟一样在斜坡上蹬腿加喷气行走
Quadratic Programming Optimization for Bio-Inspired Thruster-Assisted Bipedal Locomotion on Inclined Slopes
- 通过二次规划整合姿态与喷气矢量控制
- 实现在倾斜坡面的动态步行，提升稳定性
- 适合研究仿生双足机器人或飞行-行走融合系统
本工作旨在探索基于姿态调节与喷气矢量控制相结合的新型运动控制范式，此类机制在自然界中常见，如山鹑利用翅膀在近乎垂直的墙面上奔跑。本文提出一种带接触约束的二次规划（QP）优化方法，将其输入全身控制器，实现对哈普伊（Harpy）平台机器人状态的映射，生成喷气辅助斜坡行走控制器。哈普伊是一款兼具腿部与喷气推进能力的双足机器人，支持腿行与飞行的混合运动。虽然基于优化的步行控制器已用于动态运动（如斜坡行走），但将喷气装置引入斜坡行走的研究仍不充分。本文推导出基于喷气辅助的双足步行模型，并在仿真中实现与评估其性能。
原文摘要 · Abstract (English)
Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds using their wings to run on a nearly vertical wall. In this work, we show quadratic programming with contact constraints which is then given to the whole body controller to map on robot states to produce a thruster-assisted slope walking controller for our state-of-the-art Harpy platform. Harpy is a bipedal robot capable of legged-aerial locomotion using its legs and thrusters attached to its main frame. The optimization-based walking controller has been used for dynamic locomotion such as slope walking, but the addition of thrusters to perform inclined slope walking has not been extensively explored. In this work, we derive a thruster-assisted bipedal walking with the quadratic programming (QP) controller and implement it in simulation to study its performance.
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