推进器辅助双足运动中的捕获点控制
Capture Point Control in Thruster-Assisted Bipedal Locomotion
AI总结：
针对双足机器人易摔倒、难应对崎岖地形的问题，研究团队为推进器辅助行走模型Harpy设计基于捕获点的控制器，首次将外力引入线性倒立摆模型动力学，并通过仿真验证了方案可行性。
摘要：
尽管在抗意外扰动的控制设计方面已取得重大进展，双足机器人仍容易摔倒，且难以应对崎岖地形。通过在我们的双足机器人上使用推进器，我们可以进行额外的姿态操控，并拓展运动模式，以提升机器人的稳定性以及穿越崎岖、难以通行地形的能力。本文介绍了我们为推进器辅助行走模型Harpy设计基于捕获点控制的控制器的工作，并探索了其控制设计的可能性。虽然针对双足系统、基于质心模型的捕获点控制已得到广泛研究，但在捕获点相关研究中常用的线性倒立摆模型动力学中引入可产生影响的外力这一方向，此前尚未被探索。引入这些外力可以带来对运动的有趣解读，例如水生腿式运动中研究的虚拟浮力。本文概述了我们机器人的动力学模型、用于辅助上半身稳定的捕获点方法，以及为验证该控制器可行性所开展的仿真工作。
英文摘要：
Despite major advancements in control design that are robust to unplanned disturbances, bipedal robots are still susceptible to falling over and struggle to negotiate rough terrains. By utilizing thrusters in our bipedal robot, we can perform additional posture manipulation and expand the modes of locomotion to enhance the robot's stability and ability to negotiate rough and difficult-to-navigate terrains. In this paper, we present our efforts in designing a controller based on capture point control for our thruster-assisted walking model named Harpy and explore its control design possibilities. While capture point control based on centroidal models for bipedal systems has been extensively studied, the incorporation of external forces that can influence the dynamics of linear inverted pendulum models, often used in capture point-based works, has not been explored before. The inclusion of these external forces can lead to interesting interpretations of locomotion, such as virtual buoyancy studied in aquatic-legged locomotion. This paper outlines the dynamical model of our robot, the capture point method we use to assist the upper body stabilization, and the simulation work done to show the controller's feasibility.
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。
