用并联弹簧降低足式机器人运动能耗，提升跳跃效率。
Kinodynamic Model Predictive Control for Energy Efficient Locomotion of Legged Robots with Parallel Elasticity
- 分层控制：先用简化模型预热，再解复杂动力学问题
- 仿真中能耗降38.8%，硬件实验降14.8%
- 适合追求高效动态行走的足式机器人研究者
本文提出一种利用单向并联弹簧（UPS）提升足式机器人运动能效的运动规划方法。采用分层控制结构，先通过简化动力学模型求解的MPC结果作为初始值，再进行考虑非线性质心动力学与运动学约束的完整动力学预测控制。该方法有效降低支撑相电机峰值扭矩和能量消耗，实现高效动态跳跃。仿真结果显示，配备UPS的单足机器人在高速跳跃时，运输成本（CoT）下降38.8%；初步硬件实验也验证了14.8%的能耗降低。视频演示见：https://youtu.be/AF11qMXJD48
原文摘要 · Abstract (English)
In this paper, we introduce a kinodynamic model predictive control (MPC) framework that exploits unidirectional parallel springs (UPS) to improve the energy efficiency of dynamic legged robots. The proposed method employs a hierarchical control structure, where the solution of MPC with simplified dynamic models is used to warm-start the kinodynamic MPC, which accounts for nonlinear centroidal dynamics and kinematic constraints. The proposed approach enables energy efficient dynamic hopping on legged robots by using UPS to reduce peak motor torques and energy consumption during stance phases. Simulation results demonstrated a 38.8% reduction in the cost of transport (CoT) for a monoped robot equipped with UPS during high-speed hopping. Additionally, preliminary hardware experiments show a 14.8% reduction in energy consumption. Video: https://youtu.be/AF11qMXJD48
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