实时优化人形机器人跑动时四肢轨迹，提升高飞阶段稳定性。
Realtime Limb Trajectory Optimization for Humanoid Running Through Centroidal Angular Momentum Dynamics
- 基于质心角动量守恒原理，设计实时非线性轨迹优化方法。
- 在两种机器人模型上验证，有效避免落地时身体过度倾斜。
- 适合高速奔跑场景的实时控制，对机器人步态稳定性有关键作用。
人形机器人跑步时，四肢摆动轨迹的确定至关重要。在腾空阶段，由于无法通过地面反作用力调节，四肢摆动轨迹直接影响下一支撑相的稳定性。由于角动量守恒，不合理的腿臂摆动会导致下一次落地时身体严重倾斜，难以维持稳定。该问题在高速、长腾空时间运动中尤为明显。本文提出一种针对人形机器人跑步的实时非线性四肢轨迹优化方法。该优化方法在两种不同的人形机器人模型上进行测试，并通过仿真环境中的跑步算法验证生成轨迹的有效性。
原文摘要 · Abstract (English)
One of the essential aspects of humanoid robot running is determining the limb-swinging trajectories. During the flight phases, where the ground reaction forces are not available for regulation, the limb swinging trajectories are significant for the stability of the next stance phase. Due to the conservation of angular momentum, improper leg and arm swinging results in highly tilted and unsustainable body configurations at the next stance phase landing. In such cases, the robotic system fails to maintain locomotion independent of the stability of the center of mass trajectories. This problem is more apparent for fast and high flight time trajectories. This paper proposes a real-time nonlinear limb trajectory optimization problem for humanoid running. The optimization problem is tested on two different humanoid robot models, and the generated trajectories are verified using a running algorithm for both robots in a simulation environment.
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