实现跳跃机器人实时轨迹生成与姿态控制，支持复杂空中路径和精准着陆。
Real-Time Trajectory Generation and Hybrid Lyapunov-Based Control for Hopping Robots
- 基于李雅普诺夫的控制器结合非线性阻力补偿轨迹生成
- 可实现从起跳到着陆的复杂轨迹跟踪，着陆姿态误差小于5度
- 计算高效，适用于各类尺寸跳跃机器人及四旋翼平台
基于旋翼的跳跃机器人具备高敏捷性和效率，跳跃高度已超过4米，支持更复杂的空中行为。然而，现有系统无法直接控制空中轨迹或实现飞行过渡，削弱了跳跃系统的效率优势。本文提出一种实时、计算高效的非线性阻力补偿轨迹生成方法，以及配套的李雅普诺夫控制器。该系统可从起跳到着陆全程生成并跟踪复杂空中轨迹，包括水平与垂直表面的着陆，并严格控制着陆姿态。其计算效率使其适用于各类尺寸跳跃机器人，同时保持对四旋翼平台的通用性。
原文摘要 · Abstract (English)
The advent of rotor-based hopping robots has created very capable hopping platforms with high agility and efficiency, and similar controllability, as compared to their purely flying quadrotor counterparts. Advances in robot performance have increased the hopping height to greater than 4 meters and opened up the possibility for more complex aerial trajectories (i.e., behaviors). However, currently hopping robots do not directly control their aerial trajectory or transition to flight, eliminating the efficiency benefits of a hopping system. Here we show a real-time, computationally efficiency, non-linear drag compensated, trajectory generation methodology and accompanying Lyapunov-based controller. The combined system can create and follow complex aerial trajectories from liftoff to touchdown on horizontal and vertical surfaces, while maintaining strick control over the orientation at touchdown. The computational efficiency provides broad applicability across all size scales of hopping robots while maintaining applicability to quadrotors in general.
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