用完整刚体动力学实现人形机器人高难度杂技动作
Humanoid Robot Acrobatics Utilizing Complete Articulated Rigid Body Dynamics
- 基于完整刚体模型构建轨迹优化与全身控制框架
- 在仿真中成功实现含约束与姿态行为的杂技动作
- 适合研究复杂机器人运动规划与控制的学者
赋予人形机器人类人水平的高动态动作能力是长期挑战。成功执行此类动作需在规划与执行中充分考虑底层物理，尤其面对高自由度带来的指数级复杂性，直接求解运动方程难以实现。传统方法依赖线性化或模型近似，但性能下降明显。本文提出一种结合轨迹优化与全身控制的架构，通过匹配模型抽象中介，基于完整的关节刚体动力学方程实现杂技动作，包括约束与姿态行为。文章回顾了相关建模与控制方法，并详细说明模型抽象、轨迹优化与全身控制器的实现。系统有效性在仿真中得到验证。
原文摘要 · Abstract (English)
Endowing humanoid robots with the ability to perform highly dynamic motions akin to human-level acrobatics has been a long-standing challenge. Successfully performing these maneuvers requires close consideration of the underlying physics in both trajectory optimization for planning and control during execution. This is particularly challenging due to humanoids' high degree-of-freedom count and associated exponentially scaling complexities, which makes planning on the explicit equations of motion intractable. Typical workarounds include linearization methods and model approximations. However, neither are sufficient because they produce degraded performance on the true robotic system. This paper presents a control architecture comprising trajectory optimization and whole-body control, intermediated by a matching model abstraction, that enables the execution of acrobatic maneuvers, including constraint and posture behaviors, conditioned on the unabbreviated equations of motion of the articulated rigid body model. A review of underlying modeling and control methods is given, followed by implementation details including model abstraction, trajectory optimization and whole-body controller. The system's effectiveness is analyzed in simulation.
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