让四足机器人学会根据电机温度调整运动，延长续航时间。
Learning Thermal-Aware Locomotion Policies for an Electrically-Actuated Quadruped Robot
- 将电机温度纳入强化学习控制，动态调整运动策略
- 实测续航从7分钟提升至27分钟以上，不触发过热保护
- 适合需要长时间稳定运行的野外或救援场景
电驱动四足机器人在复杂地形上具备高机动性，但在高扭矩循环负载下电机易积热，可能触发过热保护，限制长时间任务。本文提出一种热感知控制方法，将电机温度纳入强化学习步态策略，并引入热约束奖励以防止温度超限。在Unitree A1机器人上进行的真实实验表明，在固定3 kg载荷条件下，基线策略约7分钟即触发过热保护并停止；而所提方法可连续运行超过27分钟，且保持相近的指令跟踪性能，显著提升了可持续作业能力。
原文摘要 · Abstract (English)
Electrically-actuated quadrupedal robots possess high mobility on complex terrains, but their motors tend to accumulate heat under high-torque cyclic loads, potentially triggering overheat protection and limiting long-duration tasks. This work proposes a thermal-aware control method that incorporates motor temperatures into reinforcement learning locomotion policies and introduces thermal-constraint rewards to prevent temperature exceedance. Real-world experiments on the Unitree A1 demonstrate that, under a fixed 3 kg payload, the baseline policy triggers overheat protection and stops within approximately 7 minutes, whereas the proposed method can operate continuously for over 27 minutes without thermal interruptions while maintaining comparable command-tracking performance, thereby enhancing sustainable operational capability.
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