优化双足机器人跑姿，实现100米世界纪录，媲美人类跑步效率。
Optimizing Bipedal Locomotion for The 100m Dash With Comparison to Human Running
- 通过多速度优化跑姿，提升双足机器人运动效率。
- 在高速下，机器人步态与人类跑步力学高度相似。
- 集成完整控制器，实现在真实赛道起跑、冲刺与停止。
本文研究双足机器人Cassie的跑步步态优化空间。首先提出一种跨速度范围的步态效率优化方法，旨在实现硬件上的超高速奔跑。其次，基于已有的人体生物力学研究，对比分析优化后步态与人类跑步机制的异同。结果表明，尽管Cassie与人类形态差异显著，但在广泛速度范围内，其步态关键特性仍高度相似。最后，将优化后的步态整合进全功能控制器，满足100米短跑任务中起跑、加速和停止的实际需求。该控制器在真实硬件上实现验证，使Cassie创下双足机器人100米最快纪录，获得吉尼斯世界纪录认证。
原文摘要 · Abstract (English)
In this paper, we explore the space of running gaits for the bipedal robot Cassie. Our first contribution is to present an approach for optimizing gait efficiency across a spectrum of speeds with the aim of enabling extremely high-speed running on hardware. This raises the question of how the resulting gaits compare to human running mechanics, which are known to be highly efficient in comparison to quadrupeds. Our second contribution is to conduct this comparison based on established human biomechanical studies. We find that despite morphological differences between Cassie and humans, key properties of the gaits are highly similar across a wide range of speeds. Finally, our third contribution is to integrate the optimized running gaits into a full controller that satisfies the rules of the real-world task of the 100m dash, including starting and stopping from a standing position. We demonstrate this controller on hardware to establish the Guinness World Record for Fastest 100m by a Bipedal Robot.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。