具有四足形态的可骑行仿人双轮机器人的控制设计
Control Design for a Rideable Animatronic Two-Wheeled Robot with Quadruped Form
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中文总结 AI 辅助
为激发年轻人对摩托车的兴趣，开发可骑行双轮机器人。它用自平衡双轮底座为主移动方式，四肢辅助，解决单纯肢体移动的问题。本文重点研究其在快速肢体运动时保持稳定的控制方法及生成自然四足行为的运动控制策略。
中文摘要 AI 辅助
近年来，摩托车的受欢迎程度一直在下降，尤其是在年轻一代中。为了重新激发这一人群对摩托车的兴趣，我们开发了一种配备四肢的可骑行双轮机器人，作为未来的伙伴移动概念，用于公共活动。这个机器人所再现的角色背着主角，并展示出动态的四足步态。为了最大化骑行体验，我们旨在使机器人的重量和尺寸符合角色的规格，同时确保骑手安全，并使四肢、手腕、脚踝和面部特征能够进行富有表现力的运动。然而，仅通过肢体运动来实现移动需要过多的电机输出和增加肢体强度，导致重量增加和步态极慢，从而降低角色逼真度。为了克服这些挑战，机器人使用自平衡双轮底座进行主要移动，而四肢在上下车时提供辅助支撑，并与轮式移动速度协调移动。这种方法使得一个仿人机器人能够进行基于直观的、基于重量转移的控制，实现自由自然的移动。在本文中，我们专注于一种即使在快速肢体运动期间也能保持稳定性的鲁棒自平衡控制方法，以及一种生成自然四足行为的运动控制策略。
英文摘要
In recent years, motorcycle popularity has been declining, particularly among the younger generations. To rekindle interest in motorcycles among this demographic, we developed a rideable two-wheeled robot equipped with four limbs as a future partner mobility concept and intended for use in public events. The character reproduced by this robot carries the protagonist on its back and exhibits a dynamic quadrupedal gait. To maximize the riding experience, we aimed to match the robot's weight and size to the character's specifications while ensuring rider safety and enabling expressive movements of limbs, wrists, ankles, and facial features. However, achieving locomotion solely through limb movement would require excessive motor output and increased limb strength, resulting in higher weight and extremely slow gait, thereby reducing character fidelity. To overcome these challenges, the robot performs its primary locomotion using a self-balancing two-wheeled base, while the limbs provide auxiliary support during mounting and dismounting and move in coordination with the wheeled locomotion speed. This approach enables an animatronic robot capable of intuitive, weight-shift-based control for free and natural movement. In this paper, we focus on a robust selfbalancing control method that maintains stability even during rapid limb movements, as well as a motion control strategy that generates natural quadruped-like behavior.
发表机构
- Honda R&D Co., Ltd.（本田研发有限公司）
- Honda Motor Co., Ltd.（本田汽车有限公司）
机构由 AI 辅助整理，请以论文原文为准。
