论文标题
有效的范式可在腿部机动中保证可行性
An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion
论文作者
论文摘要
在任意地形上为腿部系统开发可行的身体轨迹是一项艰巨的任务。在本文中，我们提出了一个范式，该范式允许以有效的方式设计可行的质量中心（COM）和身体轨迹。在我们先前的工作[1]中，我们介绍了2D可行区域的概念，每当com的投影置于拟议的可接受区域内，静态平衡和关节扭矩限制的满意度就可以保证。在这项工作中，我们提出了改进的可行区域的一般表述，以确保动态平衡，并以有效的方式满足联合扭力和运动型限制。为了结合运动限制的可行性，我们引入了一种计算COM可及区域的算法。此外，我们提出了一种有效的计划策略，该策略利用改进的可行区域来设计可行的COM和身体取向轨迹。最后，我们使用对90千克液压驱动的四足动物（HYQ）和21 kg Aliengo机器人的模拟和实验来验证改善可行区域的能力以及提出的计划策略的有效性。
Developing feasible body trajectories for legged systems on arbitrary terrains is a challenging task. In this paper, we present a paradigm that allows to design feasible Center of Mass (CoM) and body trajectories in an efficient manner. In our previous work [1], we introduced the notion of the 2D feasible region, where static balance and the satisfaction of joint torque limits were guaranteed, whenever the projection of the CoM lied inside the proposed admissible region. In this work we propose a general formulation of the improved feasible region that guarantees dynamic balance alongside the satisfaction of both joint-torque and kinematic limits in an efficient manner. To incorporate the feasibility of the kinematic limits, we introduce an algorithm that computes the reachable region of the CoM. Furthermore, we propose an efficient planning strategy that utilizes the improved feasible region to design feasible CoM and body orientation trajectories. Finally, we validate the capabilities of the improved feasible region and the effectiveness of the proposed planning strategy, using simulations and experiments on the 90 kg Hydraulically actuated Quadruped (HyQ) and the 21 kg Aliengo robots.
