基于配点法的倾斜表面四足运动控制
Quadrupedal Locomotion Control On Inclined Surfaces Using Collocation Method
AI总结：
受石鸡翅膀辅助斜坡奔跑启发，本研究为Husky Carbon四足机器人提出基于配点法的控制方法，结合推进器与降阶动力学模型HROM的多项式近似，实现不违反摩擦锥条件的45度陡坡行走。
摘要：
受石鸡翅膀辅助斜坡奔跑（WAIR）的启发，本研究采用Husky Carbon四足机器人的高保真模型，实现最高45度陡坡的行走。石鸡通过扇动翅膀产生的气动力调控地面接触力，从而穿越陡坡甚至悬垂结构。研究利用Husky上的推进器，采用配点法快速求解关节与推进器的动作。该方法使用Husky的降阶动力学模型HROM的多项式近似，可快速高效地找到最优控制动作，在不违反摩擦锥条件的前提下实现大坡度行走。
英文摘要：
Inspired by Chukars wing-assisted incline running (WAIR), in this work, we employ a high-fidelity model of our Husky Carbon quadrupedal-legged robot to walk over steep slopes of up to 45 degrees. Chukars use the aerodynamic forces generated by their flapping wings to manipulate ground contact forces and traverse steep slopes and even overhangs. By exploiting the thrusters on Husky, we employed a collocation approach to rapidly resolving the joint and thruster actions. Our approach uses a polynomial approximation of the reduced-order dynamics of Husky, called HROM, to quickly and efficiently find optimal control actions that permit high-slope walking without violating friction cone conditions.
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。
