高欠驱动点足人形机器人的动态行走：HZD与HLIP之间的闭环
Dynamic Walking on Highly Underactuated Point Foot Humanoids: Closing the Loop between HZD and HLIP
AI总结：
针对点足人形机器人高欠驱动等行走难题，提出HZD与HLIP闭环的控制框架，离线生成步态并在线稳定，经ADAM机器人仿真与实验验证，实现首例点足行走且具备多种鲁棒性。
摘要：
在点足人形机器人上实现双足运动极具挑战性，原因在于其高度欠驱动的特性、高自由度以及碰撞带来的混合动力学问题。为解决这一难题，本文提出了一种实现动态运动的控制框架，并在新型点足人形机器人ADAM上进行了实现。为此，我们构建了混合零动力学（Hybrid Zero Dynamics, HZD）与基于混合线性倒立摆（Hybrid linear inverted pendulum, HLIP）的步长调节之间的闭环。为利用机器人的全阶混合动力学特性，首先利用HZD离线生成行走步态，这些轨迹通过基于HLIP的调节器在线稳定。最后，通过结合逆运动学的任务空间控制器，将规划轨迹映射到全阶系统中。该方法通过在人形机器人ADAM上的数值仿真与硬件实验得到验证，标志着首次实现人形机器人点足行走。此外，我们还通过跟踪期望参考速度的能力、抗推力鲁棒性以及不平地形上的运动能力，实验验证了所实现行走的鲁棒性。
英文摘要：
Realizing bipedal locomotion on humanoid robots with point feet is especially challenging due to their highly underactuated nature, high degrees of freedom, and hybrid dynamics resulting from impacts. With the goal of addressing this challenging problem, this paper develops a control framework for realizing dynamic locomotion and implements it on a novel point foot humanoid: ADAM. To this end, we close the loop between Hybrid Zero Dynamics (HZD) and Hybrid linear inverted pendulum (HLIP) based step length regulation. To leverage the full-order hybrid dynamics of the robot, walking gaits are first generated offline by utilizing HZD. These trajectories are stabilized online through the use of a HLIP based regulator. Finally, the planned trajectories are mapped into the full-order system using a task space controller incorporating inverse kinematics. The proposed method is verified through numerical simulations and hardware experiments on the humanoid robot ADAM marking the first humanoid point foot walking. Moreover, we experimentally demonstrate the robustness of the realized walking via the ability to track a desired reference speed, robustness to pushes, and locomotion on uneven terrain.
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。
