为双足机器人Harpy建模推力与扭矩特性，提升复杂地形下的稳定性。
System Identification of Thrust and Torque Characteristics for a Bipedal Robot with Integrated Propulsion
- 通过实验和仿真构建推力与电机扭矩的精确模型。
- 验证了集成推进器后机器人在不平地形上的抗干扰能力提升。
- 适合研究机器人动力学建模与智能控制的工程师和学者。
双足机器人是模仿人类形态与运动的先进机器人系统，其发展代表了该领域的重大进展。然而，即使最先进的双足机器人在应对地形变化、障碍物穿越、负载管理、重心分布及跌倒恢复方面仍面临挑战。通过引入推进器可增强其在不平地形上的稳定性、实现障碍规避并改善跌倒后的恢复能力。本文以配备六个关节和两个推进器的双足机器人Harpy为硬件平台，重点对其实现先进控制算法的硬件特性进行表征，旨在提升系统的整体鲁棒性、可控性与可预测性。研究内容包括基于螺旋桨机制的推力预测仿真、推进器在Harpy平台上的集成与测试，以及电机扭矩特性建模方法的探索，并将其应用于闭环力控阻抗控制中。
原文摘要 · Abstract (English)
Bipedal robots represent a remarkable and sophisticated class of robotics, designed to emulate human form and movement. Their development marks a significant milestone in the field. However, even the most advanced bipedal robots face challenges related to terrain variation, obstacle negotiation, payload management, weight distribution, and recovering from stumbles. These challenges can be mitigated by incorporating thrusters, which enhance stability on uneven terrain, facilitate obstacle avoidance, and improve recovery after stumbling. Harpy is a bipedal robot equipped with six joints and two thrusters, serving as a hardware platform for implementing and testing advanced control algorithms. This thesis focuses on characterizing Harpy's hardware to improve the system's overall robustness, controllability, and predictability. It also examines simulation results for predicting thrust in propeller-based mechanisms, the integration of thrusters into the Harpy platform and associated testing, as well as an exploration of motor torque characterization methods and their application to hardware in relation to closed-loop force-based impedance control.
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