双地平线混合内部模型用于低重力四足跳跃的硬件在环验证
Dual-Horizon Hybrid Internal Model for Low-Gravity Quadrupedal Jumping with Hardware-in-the-Loop Validation
AI总结：
本文提出了一种双地平线混合内部模型，用于在月球重力下实现连续四足跳跃，并通过硬件在环验证展示了其在月球样地形上的应用。
摘要：
在低重力环境下，跳跃通常是实现运动的方式，但在月球重力下持续的pronking仍然具有挑战性，因为飞行时间长且地面接触稀疏。延长的空中持续时间增加了着陆冲击的敏感性，并使在粗糙行星地形上稳定姿态调节变得困难。现有方法主要解决在平坦表面上的单次跳跃，缺乏连续地形解决方案和现实的硬件验证。本文提出了一种双地平线混合内部模型，用于在月球重力下使用本体感觉传感仅实现连续的四足跳跃。两个时间编码器捕捉互补的时间尺度：短地平线分支通过显式垂直速度估计建模快速垂直动力学，而长地平线分支建模水平运动趋势和跳跃周期中的质心高度演变。融合的表示使机器人能够在具有月球重力特征的延长空中阶段中实现稳定和连续的跳跃。为了提供硬件在环验证，我们开发了MATRIX（混合现实适应测试床用于机器人集成探索）平台，一个数字双驱动系统，通过滑轮-重物机制卸载重力，并将Unreal Engine月球地形实时映射到运动平台和跑步机上。使用MATRIX，我们展示了在月球重力模拟下的四足机器人在月球样地形上的连续跳跃。
英文摘要：
Locomotion under reduced gravity is commonly realized through jumping, yet continuous pronking in lunar gravity remains challenging due to prolonged flight phases and sparse ground contact. The extended aerial duration increases landing impact sensitivity and makes stable attitude regulation over rough planetary terrain difficult. Existing approaches primarily address single jumps on flat surfaces and lack both continuous-terrain solutions and realistic hardware validation. This work presents a Dual-Horizon Hybrid Internal Model for continuous quadrupedal jumping under lunar gravity using proprioceptive sensing only. Two temporal encoders capture complementary time scales: a short-horizon branch models rapid vertical dynamics with explicit vertical velocity estimation, while a long-horizon branch models horizontal motion trends and center-of-mass height evolution across the jump cycle. The fused representation enables stable and continuous jumping under extended aerial phases characteristic of lunar gravity. To provide hardware-in-the-loop validation, we develop the MATRIX (Mixed-reality Adaptive Testbed for Robotic Integrated eXploration) platform, a digital-twin-driven system that offloads gravity through a pulley-counterweight mechanism and maps Unreal Engine lunar terrain to a motion platform and treadmill in real time. Using MATRIX, we demonstrate continuous jumping of a quadruped robot under lunar-gravity emulation across cratered lunar-like terrain.
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