AI 中文总结
该研究辨识CloudPendulum单元203的基参数模型，用acados SQP-RTI NMPC实现欠驱动双摆摆起控制，通过被动关节辅助开展诊断性测试，为后续合格性评估提供依据。
AI 中文摘要
我们辨识CloudPendulum单元203的基参数模型，采用acados SQP-RTI NMPC以400 Hz的目标速率跟踪离线摆起参考。5 mNm的被动关节辅助支持研发阶段的摆起与恢复。在组织者开展的测试中，对单元201至204各配置进行16次、每次300秒的试验，辅助型pendubot和acrobot的平均正常运行时间得分分别为80.19秒和74.61秒；acrobot在两个单元得分为0，7次试验因安全限制异常终止。由于评估中禁止使用该辅助，这些结果属于诊断性而非合格性得分。
英文摘要
We identify a base-parameter model of CloudPendulum cell 203 and track an offline swing-up reference with acados SQP-RTI NMPC at a target rate of 400 Hz. A 5 mNm passive-joint assist enabled development-stage swing-up and recovery. In organizer-run testing (16 trials of 300 s per configuration on cells 201--204), assisted pendubot and acrobot mean uptime scores were 80.19 s and 74.61 s. Acrobot scored zero on two cells, and seven trials ended on safety-limit exceptions. Because the assist is prohibited in evaluation, these results are diagnostic rather than qualification scores.
