HECTOR上的动态移动操作：增强控制与开源研究的人形机器人
Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Research
AI总结：
提出基于力和力矩的MPC框架，结合SRBD模型，实现人形机器人动态移动与操作，并在HECTOR平台上验证其平衡、行走和负载能力。
摘要：
尽管人形机器人在移动和操作方面取得了显著进步，但缺乏同步的移动操作控制仍然是一个挑战，阻碍了其全部动态潜力的发挥。在这项工作中，我们介绍了一种通用且有效的方法，通过基于力和力矩的模型预测控制（MPC）来控制人形机器人的动态移动和移动操作，并实现其泛化。具体来说，我们提出了一个简化的刚体动力学（SRBD）模型，以同时考虑人形机器人和物体的动力学，用于人形移动操作。这个线性动力学模型使我们能够通过MPC问题直接求解地面反作用力和力矩，从而实现高度动态的实时控制。我们提出的框架具有高度的通用性和泛化能力。我们引入了HECTOR（增强控制与开源研究的人形机器人）平台，以在硬件实验中展示其有效性。使用所提出的框架，HECTOR在双腿站立模式下能够保持出色的平衡，即使受到身体或脚部位置的外部力扰动也是如此。此外，它能够在各种不平坦地形上执行3D动态行走，包括湿草地、斜坡、随机放置的木条和堆叠至6厘米高的木条，速度可达0.6米/秒。此外，我们演示了在不平坦地形上的动态人形移动操作，携带2.5公斤的负载。HECTOR仿真以及所提出的控制框架作为开源项目提供。（https://github.com/DRCL-USC/Hector_Simulation）。
英文摘要：
Despite their remarkable advancement in locomotion and manipulation, humanoid robots remain challenged by a lack of synchronized loco-manipulation control, hindering their full dynamic potential. In this work, we introduce a versatile and effective approach to controlling and generalizing dynamic locomotion and loco-manipulation on humanoid robots via a Force-and-moment-based Model Predictive Control (MPC). Specifically, we proposed a simplified rigid body dynamics (SRBD) model to take into account both humanoid and object dynamics for humanoid loco-manipulation. This linear dynamics model allows us to directly solve for ground reaction forces and moments via an MPC problem to achieve highly dynamic real-time control. Our proposed framework is highly versatile and generalizable. We introduce HECTOR (Humanoid for Enhanced ConTrol and Open-source Research) platform to demonstrate its effectiveness in hardware experiments. With the proposed framework, HECTOR can maintain exceptional balance during double-leg stance mode, even when subjected to external force disturbances to the body or foot location. In addition, it can execute 3-D dynamic walking on a variety of uneven terrains, including wet grassy surfaces, slopes, randomly placed wood slats, and stacked wood slats up to 6 cm high with the speed of 0.6 m/s. In addition, we have demonstrated dynamic humanoid loco-manipulation over uneven terrain, carrying 2.5 kg load. HECTOR simulations, along with the proposed control framework, are made available as an open-source project. (https://github.com/DRCL-USC/Hector_Simulation).
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。
