基于整体导纳控制的HRP-4人形机器人爬楼梯镇定
Stair Climbing Stabilization of the HRP-4 Humanoid Robot using Whole-body Admittance Control
摘要：
我们认为HRP-4人形机器人的动态爬楼梯作为空中客车制造用例演示的一部分。我们分享为完成这项任务而收集的实验知识，HRP-4以前从未受到过挑战。特别是，我们扩展walkingstabilization基于线性倒立摆跟踪二次规划为基础的扳手分布和全身导纳控制器，适用于末端执行器和CoM策略。虽然现有的稳定器倾向于使用其中之一，但我们的经验表明，这两种方法的组合可以提高跟踪性能。我们在一个现场实验中演示了这个解决方案，HRP-4爬上了一个18.5厘米高的工业楼梯，并将我们的步行控制器作为开源软件发布。
英文摘要：
We consider dynamic stair climbing with the HRP-4 humanoid robot as part of an Airbus manufacturing use-case demonstrator. We share experimental knowledge gathered so as to achieve this task, which HRP-4 had never been challenged to before. In particular, we extend walkingstabilization based on linear inverted pendulum tracking by quadratic programming-based wrench distribution and a whole-body admittance controller that applies both end-effector and CoM strategies. While existing stabilizers tend to use either one or the other, our experience suggests that the combination of these two approaches improves tracking performance. We demonstrate this solution in an on-site experiment where HRP-4 climbs an industrial staircase with 18.5 cm high steps, and release our walking controller as open source software.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
