一种用于稳定高效四足机器人运动的新型多步态策略
A Novel Multi-Gait Strategy for Stable and Efficient Quadruped Robot Locomotion
AI总结：
本文提出一种多步态选择与转换策略，通过建立考虑运输成本和稳定性的步态映射，并引入仿射变换与有限状态机实现步态及时切换，使四足机器人在不同地形和速度下实现稳定且高效的运动。
摘要：
受四足动物自然步态转换机制的启发，设计良好的步态转换策略对于四足机器人在各种地形和速度下实现节能运动至关重要。虽然先前的研究已经认识到与速度相关的步态模式会影响两个关键因素，即运输成本（CoT）和机器人运动的稳定性，但只有有限的研究有效地结合了这些因素来设计一种确保四足机器人运动效率和稳定性的机制。在本文中，我们提出了一种多步态选择和转换策略，以在不同地形上实现稳定和高效的运动。我们的策略首先建立了一个同时考虑CoT和运动稳定性的步态映射，以指导运动过程中的步态选择过程。然后，我们通过引入步态参数的仿射变换和设计的有限状态机来构建切换顺序，从而及时实现步态切换。我们已经在不断变化的地形和速度下使用我们的策略进行了全面的实验，结果表明，我们提出的策略在通过考虑CoT和稳定性实现运动同时效率方面优于基线方法。
英文摘要：
Taking inspiration from the natural gait transition mechanism of quadrupeds, devising a good gait transition strategy is important for quadruped robots to achieve energy-efficient locomotion on various terrains and velocities. While previous studies have recognized that gait patterns linked to velocities impact two key factors, the Cost of Transport (CoT) and the stability of robot locomotion, only a limited number of studies have effectively combined these factors to design a mechanism that ensures both efficiency and stability in quadruped robot locomotion. In this paper, we propose a multi-gait selection and transition strategy to achieve stable and efficient locomotion across different terrains. Our strategy starts by establishing a gait mapping considering both CoT and locomotion stability to guide the gait selection process during locomotion. Then, we achieve gait switching in time by introducing affine transformations for gait parameters and a designed finite state machine to build the switching order. Comprehensive experiments have been conducted on using our strategy with changing terrains and velocities, and the results indicate that our proposed strategy outperforms baseline methods in achieving simultaneous efficiency in locomotion by considering CoT and stability.
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。
