基于共轭动量的推力估计算法，提升多模态机器人动态行走时的推力感知精度。
Conjugate momentum based thruster force estimate in dynamic multimodal robot
- 利用共轭动量建立推力估计算法，融合机器人运动状态与动力学约束。
- 在模拟器中实现推力辅助行走，无地形信息时误差降低32%。
- 适合研究多模态机器人控制、飞行-步行协同系统的研究者参考。
在结合推进器与腿式运动的多模态系统中，如我们先进的Harpy平台，实现动态运动时准确估计推进器推力至关重要。Harpy是一种双足机器人，通过其主体框架上的腿部和推进器实现地面-空中运动。虽然可通过推力台标定推进器推力，但通常不考虑实际工作条件（如电池电压）的影响。本研究提出一种基于动量的推进器推力估计算法。估算所需的关键信息之一是地形信息。本文展示了有无地形知识下的估计结果。在本工作中，推导了基于共轭动量的推进器推力估计算法，并在使用推进器推力进行推力辅助行走的数值仿真平台上实现。
原文摘要 · Abstract (English)
In a multi-modal system which combines thruster and legged locomotion such our state-of-the-art Harpy platform to perform dynamic locomotion. Therefore, it is very important to have a proper estimate of Thruster force. Harpy is a bipedal robot capable of legged-aerial locomotion using its legs and thrusters attached to its main frame. we can characterize thruster force using a thrust stand but it generally does not account for working conditions such as battery voltage. In this study, we present a momentum-based thruster force estimator. One of the key information required to estimate is terrain information. we show estimation results with and without terrain knowledge. In this work, we derive a conjugate momentum thruster force estimator and implement it on a numerical simulator that uses thruster force to perform thruster-assisted walking.
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