六足机器人LAURON VI实现快速动态行走，提升复杂地形适应能力。
LAURON VI: A Six-Legged Robot for Dynamic Walking
- 采用18个柔顺关节驱动，支持高频率阻抗与纯力矩控制。
- 三种控制策略对比验证，实现复杂地形下高效动态步态。
- 适合火星类比任务与灾难救援场景的自主导航研究。
腿式运动使机器人能够穿越极具挑战性的地形。在许多现实场景中，地形并非极端困难，但混合地形要求灵活运用不同行走策略，以实现快速、可靠且节能的任务目标。六足机器人具备高度灵活性和内在稳定性，有助于穿越如倒塌建筑等极端环境。然而，其在平坦地面上缺乏快速行走步态，限制了实际应用。本文提出LAURON VI，一个用于动态步态研究及复杂任务自主性的六足机器人平台。该平台配备18个串联弹性关节执行器，支持笛卡尔阻抗与纯力矩控制的高频接口。我们设计并对比了三种控制方法：基于运动学、模型预测与强化学习控制器。机器人硬件及不同控制策略在实验室环境和火星类比任务中进行了广泛测试。引入快速行走策略后，六足机器人在多种真实应用场景中的适用性显著提升。
原文摘要 · Abstract (English)
Legged locomotion enables robotic systems to traverse extremely challenging terrains. In many real-world scenarios, the terrain is not that difficult and these mixed terrain types introduce the need for flexible use of different walking strategies to achieve mission goals in a fast, reliable, and energy-efficient way. Six-legged robots have a high degree of flexibility and inherent stability that aids them in traversing even some of the most difficult terrains, such as collapsed buildings. However, their lack of fast walking gaits for easier surfaces is one reason why they are not commonly applied in these scenarios. This work presents LAURON VI, a six-legged robot platform for research on dynamic walking gaits as well as on autonomy for complex field missions. The robot's 18 series elastic joint actuators offer high-frequency interfaces for Cartesian impedance and pure torque control. We have designed, implemented, and compared three control approaches: kinematic-based, model-predictive, and reinforcement-learned controllers. The robot hardware and the different control approaches were extensively tested in a lab environment as well as on a Mars analog mission. The introduction of fast locomotion strategies for LAURON VI makes six-legged robots vastly more suitable for a wide range of real-world applications.
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