提出机器人碰撞方向新概念，为冲击控制提供理论基础
The Nonsmooth Impact Direction (NSID) of Robotic Systems
- 定义非光滑碰撞方向(NSID)，揭示其与接触属性无关的特性
- 发现冲击力方向由接近方向与NSID夹角决定
- 适用于有弹性/柔性关节、约束/自由系统，适合运动规划与控制
刚性连杆机器人与刚性环境的碰撞常被理想化为瞬时事件，此时冲击力呈脉冲状，系统速度出现不连续。本文系统分析碰撞前后速度，提出非光滑碰撞方向（NSID）这一特征方向，发现其基本不受接触性质影响。该方向在具有刚性连杆的可逆驱机器人中具有普适性，适用于非弹性及柔性关节、无约束与有约束系统。进一步表明，在摩擦性、非弹性碰撞中，接近方向相对于NSID的夹角决定了脉冲力的方向。本研究通过全面理论分析并辅以实验验证，可为多种机器人冲击应用（如滑地人形行走、重复敲击）的规划与控制算法提供基础。
原文摘要 · Abstract (English)
Collisions of rigid-link robots and rigid environments are often modeled as instantaneous events. Under this idealization, the impact forces become impulsive and the system velocities nonsmooth. In this work, we systematically analyze pre- and post-impact velocities focusing on what we refer to as the nonsmooth impact direction (NSID). We show that it is a characteristic direction of a robotic impact and largely independent of contact properties. The results are directly applicable to large classes of backdrivable robotic systems with rigid links. We address particularities of systems with nonelastic and flexible joints, unconstrained as well as constrained systems. Further, we show that the approach direction w.r.t the NSID sets the direction of the impulsive force in frictional, inelastic impacts. The comprehensive theoretical analysis of this work supported by an experimental validation may serve as a foundation for future planning and control algorithms for various robotic impact applications. These can include humanoid locomotion on a slippery surface or repetitive hammering.
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