用推进器动态优化双足行走的捕捉点，提升机器人越障能力
Enhanced Capture Point Control Using Thruster Dynamics and QP-Based Optimization for Harpy
- 结合姿态调节与推力矢量，设计基于二次规划的捕捉点控制器
- 在仿真中实现带推进器的双足动态步行，支持垂直壁面行走
- 适合研究新型人形机器人步态控制或复合运动系统的研究者
本工作致力于探索基于姿态操控与推力矢量融合的新型双足运动控制范式。自然界中的朱雀鸟可在近乎垂直的墙面上利用翅膀奔跑，这一现象启发了本研究。我们为先进的Harpy双足机器人平台开发了一种融合二次规划（QP）求解器的捕捉点控制器，实现了基于推进器辅助的动态双足行走。Harpy是一种兼具腿部与机身推进器的双足飞行-行走复合机器人。尽管基于质心模型的捕捉点控制在双足系统中已有广泛研究，但推进器对捕捉点的影响尚未被充分探索。引入外部推力可带来类似水生双足运动中的虚拟浮力等新机制。本文推导并实现了带有推进器的双足捕捉点控制算法，并在仿真中验证其性能。
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 developed a capture-point-based controller integrated with a quadratic programming (QP) solver which is used to create a thruster-assisted dynamic bipedal 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. While capture point control based on centroidal models for bipedal systems has been extensively studied, the use of these thrusters in determining the capture point for a bipedal robot has not been extensively explored. The addition of these external thrust forces can lead to interesting interpretations of locomotion, such as virtual buoyancy studied in aquatic-legged locomotion. In this work, we derive a thruster-assisted bipedal walking with the capture point controller and implement it in simulation to study its performance.
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