通过补偿关节误差提升NAO机器人站立成功率
Stand Up, NAO! Increasing the Reliability of Stand-Up Motions Through Error Compensation in Position Control
- 检测并补偿关节位置误差，修正僵硬肢体动作
- 六年来持续优化，站立成功率达显著提升
- 已被多支队伍采用，适用于人形机器人比赛
站立动作是人形机器人足球比赛中不可或缺的环节。无法自主站立的机器人将被暂时移出比赛。本文介绍了NAO机器人的站立动作方案，该方案源于2019年，并在过去六年中经过评估与小幅扩展。我们指出，站立失败的主要原因是执行时关节位置存在较大偏差。通过执行特殊动作释放卡住的肢体（如手臂），或利用其他关节补偿大误差，显著提升了站立动作的整体成功率。本文提出的动作已被多个标准平台联赛队伍采用，视频分析显示这些队伍也取得了相似的成功率。
原文摘要 · Abstract (English)
Stand-up motions are an indispensable part of humanoid robot soccer. A robot incapable of standing up by itself is removed from the game for some time. In this paper, we present our stand-up motions for the NAO robot. Our approach dates back to 2019 and has been evaluated and slightly expanded over the past six years. We claim that the main reason for failed stand-up attempts are large errors in the executed joint positions. By addressing such problems by either executing special motions to free up stuck limbs such as the arms, or by compensating large errors with other joints, we significantly increased the overall success rate of our stand-up routine. The motions presented in this paper are also used by several other teams in the Standard Platform League, which thereby achieve similar success rates, as shown in an analysis of videos from multiple tournaments.
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