站起来，NAO！通过位置控制中的误差补偿提升起身动作的可靠性
Stand Up, NAO! Increasing the Reliability of Stand-Up Motions Through Error Compensation in Position Control
AI总结：
针对人形机器人足球比赛中NAO机器人起身易因关节位置误差失败的问题，提出通过解脱卡滞肢体、跨关节误差补偿的方法，显著提升起身成功率，且方案已被多支赛事队伍采用并验证效果。
摘要：
起身动作是人形机器人足球比赛中不可或缺的环节。无法自主起身的机器人会被暂时移出比赛。本文提出了适用于NAO机器人的起身动作方案。该方法最早可追溯至2019年，在过去六年间经过了验证并得到了小幅扩展。我们认为，起身尝试失败的主要原因是执行的关节位置存在较大误差。通过执行特殊动作解脱被卡住的肢体（如手臂），或利用其他关节补偿大误差来解决这类问题，我们显著提升了起身流程的整体成功率。本文提出的动作也被标准平台联盟（Standard Platform League）的其他多支队伍采用，对多场赛事的视频分析显示，这些队伍也取得了相近的成功率。
英文摘要：
Stand-up motions are an indispensable part of humanoid robot soccer. A robot incapable of standing up by itself is removed from the game for some time. In this paper, we present our stand-up motions for the NAO robot. Our approach dates back to 2019 and has been evaluated and slightly expanded over the past six years. We claim that the main reason for failed stand-up attempts are large errors in the executed joint positions. By addressing such problems by either executing special motions to free up stuck limbs such as the arms, or by compensating large errors with other joints, we significantly increased the overall success rate of our stand-up routine. The motions presented in this paper are also used by several other teams in the Standard Platform League, which thereby achieve similar success rates, as shown in an analysis of videos from multiple tournaments.
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。
