优化扳手多面体分析用于复杂多接触配置下腿式机器人实时稳定性控制
Optimized Wrench Polytope Analysis for Real-Time Stability Control of Legged Robots in Complex Multi-Contact Configurations
- FZI Research Center for Information Technology（FZI信息技术研究中心）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
针对腿式机器人在复杂多接触场景下的稳定性控制，提出优化扳手多面体分析算法，实现49Hz实时计算，并在仿真和实际硬件上验证了超越现有控制器的稳定性。
AI中文摘要：
腿式机器人在现实场景中提供了多种自动化应用。但是，难以穿越的区域，如斜坡、洞穴或脚手架，仍然对穿越构成巨大挑战。为解决这一问题，我们提出了一种优化算法，用于评估任意接触场景下的完整可驱动扳手多面体。通过我们改进的分析算法，可以在49 Hz的控制频率内计算机器人每个关节的力矩。所实现的加速使得该算法能够部署在常规控制回路中，以驱动不同接触场景下的机器人姿态。我们在仿真场景中广泛评估了我们的稳定性控制器，并通过将其部署在实际行走机器人硬件上验证了其适用性。所提出的控制器在目前任何其他控制器都无法实现的非常复杂的场景中实现了稳定性。
英文摘要：
Legged robots offer a variety of automation applications in real-world scenarios. But areas that are difficult to traverse, like slopes, caves, or scaffolding, still pose a great challenge for traversal. To tackle this problem, we propose an optimized algorithm for evaluating the full actuatable wrench polytope for arbitrary contact scenarios. With our improved analysis algorithm, the torques for each joint of the robot can be calculated within a control frequency of 49 Hz. The achieved speedup allows for deployment within a regular control loop for actuating robot poses for different contact scenarios. We evaluated our stability controller extensively in simulation scenarios and validated its applicability by deploying it on actual walking robot hardware. The proposed controller achieved stability in very complex scenarios that are currently not achievable by any other controller.
