基于小脑控制的HyQ机器人反射运动姿态控制
Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot
摘要：
腿式机器人的进步深深植根于动物观察。这一主张的一个清楚的例证是中央模式发生器（CPG）的推广，首先在猫的脊髓中发现，以产生机器人运动中的周期运动。尽管这种模型得到了全球的认可，但哺乳动物的生理和功能实验也表明存在来自小脑的下行信号，以及来自下肢感觉细胞的反射反馈，它们与CPG密切相互作用。直到今天，这些相互作用还没有被完全理解。在一些研究中，已经证明，在没有振荡信号的情况下，可以在真实的肌肉骨骼仿真模型或小型顺应性四足机器人中实现纯反射运动。与此同时，生物学证据已经证明了小脑在哺乳动物中预测控制平衡和姿态的功能作用。在本文中，我们促进这两种方法，并成功地应用反射为基础的动态运动，再加上平衡和重力补偿机制，对国家的最先进的HyQ机器人。我们讨论了这个稳定模块的重要性，以确保正确的脚抬离和保持可靠的步态。机器人平台进一步用于测试两个不同的架构假设的灵感来自小脑。实验结果的分析表明，最生物合理的替代方案也导致更好的结果，强大的运动。
英文摘要：
Advances in legged robotics are strongly rooted in animal observations. A clear illustration of this claim is the generalization of Central Pattern Generators (CPG), first identified in the cat spinal cord, to generate cyclic motion in robotic locomotion. Despite a global endorsement of this model, physiological and functional experiments in mammals have also indicated the presence of descending signals from the cerebellum, and reflex feedback from the lower limb sensory cells, that closely interact with CPGs. To this day, these interactions are not fully understood. In some studies, it was demonstrated that pure reflex-based locomotion in the absence of oscillatory signals could be achieved in realistic musculoskeletal simulation models or small compliant quadruped robots. At the same time, biological evidence has attested the functional role of the cerebellum for predictive control of balance and stance within mammals. In this paper, we promote both approaches and successfully apply reflex-based dynamic locomotion, coupled with a balance and gravity compensation mechanism, on the state-of-art HyQ robot. We discuss the importance of this stability module to ensure a correct foot lift-off and maintain a reliable gait. The robotic platform is further used to test two different architectural hypotheses inspired by the cerebellum. An analysis of experimental results demonstrates that the most biologically plausible alternative also leads to better results for robust locomotion.
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