一种统一通用的人形机器人全身控制器用于多功能运动
A Unified and General Humanoid Whole-Body Controller for Versatile Locomotion
AI总结：
针对现有研究限制人形机器人运动学能力的问题，本文提出统一通用的全身控制器HugWBC，通过通用命令空间与先进训练技术实现多步态自定义及运动-操作结合，实验验证其高精度与鲁棒性，为首个该类控制器。
摘要：
运动是人形机器人的一项基本技能。然而，大多数现有研究将运动视为单一、繁琐、不可扩展且无约束的动作，这限制了人形机器人的运动学能力。相比之下，人类具备多样的运动能力——跑步、跳跃、单脚跳，以及精细调整步态参数如频率和脚高度。在本文中，我们研究将这种多功能性引入人形机器人运动的解决方案，进而提出HugWBC：一种统一通用的人形机器人全身控制器，用于多功能运动。通过在任务和行为方面设计通用命令空间，结合对称损失和干预训练等先进技术，在仿真中学习人形机器人全身控制策略，HugWBC使现实世界的人形机器人能够产生多种自然步态，包括行走、跳跃、站立和单脚跳，并可自定义频率、脚摆动高度等参数，还能结合不同的身体高度、腰部旋转和身体俯仰。除运动外，HugWBC还支持来自外部上身控制器（如遥操作）的实时干预，使机器人在任何运动行为下都能进行精准的运动-操作任务。大量实验验证了HugWBC在有/无上身干预时对所有命令的高跟踪精度和鲁棒性，我们进一步深入分析了各种命令如何影响人形机器人运动，并提供了这些命令之间关系的见解。据我们所知，HugWBC是首个支持如此多功能运动行为且具有高鲁棒性和灵活性的人形机器人全身控制器。
英文摘要：
Locomotion is a fundamental skill for humanoid robots. However, most existing works make locomotion a single, tedious, unextendable, and unconstrained movement. This limits the kinematic capabilities of humanoid robots. In contrast, humans possess versatile athletic abilities-running, jumping, hopping, and finely adjusting gait parameters such as frequency and foot height. In this paper, we investigate solutions to bring such versatility into humanoid locomotion and thereby propose HugWBC: a unified and general humanoid whole-body controller for versatile locomotion. By designing a general command space in the aspect of tasks and behaviors, along with advanced techniques like symmetrical loss and intervention training for learning a whole-body humanoid controlling policy in simulation, HugWBC enables real-world humanoid robots to produce various natural gaits, including walking, jumping, standing, and hopping, with customizable parameters such as frequency, foot swing height, further combined with different body height, waist rotation, and body pitch. Beyond locomotion, HugWBC also supports real-time interventions from external upper-body controllers like teleoperation, enabling loco-manipulation with precision under any locomotive behavior. Extensive experiments validate the high tracking accuracy and robustness of HugWBC with/without upper-body intervention for all commands, and we further provide an in-depth analysis of how the various commands affect humanoid movement and offer insights into the relationships between these commands. To our knowledge, HugWBC is the first humanoid whole-body controller that supports such versatile locomotion behaviors with high robustness and flexibility.
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。
