带物体质量的人形机器人平衡：权衡分析与举升控制
Balancing of Humanoid with Object Mass: Trade-off Analyses and Lifting Control
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中文总结 AI 辅助
该研究分析物体质量对人形机器人平衡的动态影响，构建平衡状态盆地/边界，定义临界与过渡质量，将其应用于轨迹优化，实现人形机器人稳定举升物体控制并完成相关任务。
中文摘要 AI 辅助
近期，带物体的人形机器人操作与移动任务需求不断增长，而现有这类任务的稳定性控制方法大多依赖启发式规则或机器学习技术。本研究对物体质量对平衡稳定性的动态影响进行了严谨分析与利用：通过将物体质量参数纳入含分布式接触 wrench 及支撑接触压力中心的全身动力学模型，量化了其对系统动量与约束的非线性影响；将动态模型与约束整合至平衡状态盆地/边界（BSB）的构建中，该边界是双足系统质心状态空间的划分区域，用于维持期望接触下的平衡。研究通过人形机器人与解析可处理的降阶机构，凸显了BSB在预测与控制中的意义；不同支撑基、驱动能力及位姿下的BSB，为系统平衡能力受物体质量的影响提供了系统性分析，尤其明确了动量调节与平衡限制因素间的权衡关系，定义了物体的两个关键量：使系统平衡能力达到最大值的临界质量，以及激活不同限制因素的过渡质量。此外，本研究建立了在轨迹上施加平衡状态的充分条件，并将BSB作为显式阈值约束，应用于全身轨迹优化中以实现人形机器人的稳定举升物体控制，在仿真与实验中完成了具有不同质量特性的举升保持与举升释放任务。
英文摘要
The demand for humanoid loco-manipulation tasks with an object has recently increased, and most existing control approaches for stability in such tasks rely on heuristics or machine-learning techniques. This study rigorously analyzes and exploits the dynamic effects of the object mass on balance stability. By formulating the object mass parameters in the whole-body dynamics with distributed contact wrenches and centers of pressure at the stance contacts, their nonlinear effects on the system momenta and constraints are quantified. The dynamic models and constraints are incorporated into the construction of the balanced state basin/boundary (BSB), a partition of the center-of-mass state space for a biped system to maintain balance in its desired contacts. The implications of the BSB for prediction and control are highlighted using a humanoid robot and an analytically tractable reduced-order mechanism. The BSBs under different conditions of base of support, actuation capacity, and pose provide systematic analyses of the effects of object mass on the balancing capability of a system. In particular, the trade-off relationships between momentum regulation and limiting factors in balancing are characterized, introducing two key quantities of the object: the critical mass, at which the system's balancing capability is maximum, and the transition mass, which activates different limiting factors. In addition, sufficient conditions for imposing balanced states on a trajectory are established and implemented with BSBs as explicit threshold constraints in the whole-body trajectory optimization for stable object-lifting control of the humanoid, demonstrating the lift-and-hold and lift-and-release tasks with distinct mass properties in simulations and experiments.
