发表机构
Carnegie Mellon University; New York University（卡内基梅隆大学; 纽约大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究通过仿真和硬件实验比较直立与企鹅式躯干运动策略，发现低摩擦下高质心企鹅配置提升速度与能效，高摩擦下趋势反转，证明摩擦决定躯干与质心影响。
AI 中文摘要
低摩擦表面通过限制步态中可用的接触力，对双足运动构成挑战。受企鹅摇摆行走的启发，我们研究了随着表面摩擦变化，横向躯干运动和质心（COM）位置如何影响运动。使用一个五执行器双足机器人，我们在仿真和硬件中，跨多个质心位置比较了直立步态策略与受企鹅启发的躯干-支撑腿对齐策略。在3-D模拟器MuJoCo中，我们扫描了正弦腿部和髋部驱动参数，覆盖四个摩擦系数mu=0.1、0.3、0.5、0.7。在仿真中，躯干-支撑腿对齐运动在低摩擦下产生更多成功的控制器和更高的前进速度，最高速度出现在高质心配置中。硬件实验显示了相同的低摩擦速度趋势：在mu=0.12时，躯干-支撑腿对齐运动在两个测试的质心比下均提高了前进速度并降低了运输成本，且较高的质心也改善了这两项指标。高质心企鹅配置是最快且最节能的，同时保持了较低的侧向足部运动。在mu=0.45时，质心趋势反转：较低质心配置更快且更节能，而步态策略对前进速度影响不大，但仍改变了侧向足部运动。这些结果表明，横向躯干运动和质心位置的影响取决于可用的摩擦，并且前进速度、能量使用和与滑动相关的足部运动可以通过硬件上受企鹅启发的躯干运动进行调节。
英文摘要
Low-friction surfaces challenge bipedal locomotion by limiting the contact forces available during stepping. Inspired by penguin waddling, we investigate how lateral torso motion and center of mass (COM) placement affect locomotion as surface friction changes. Using a five-actuator biped, we compare an upright-gait strategy with a penguin-inspired torso-over-stance-leg strategy across multiple COM placements in simulation and hardware. In the 3-D simulator MuJoCo, we sweep through sinusoidal leg and hip actuation parameters across four friction coefficients mu = 0.1, 0.3, 0.5, 0.7. In simulation, torso-over-stance-leg motion produces more successful controllers and higher forward speeds at low friction, with the highest speed occurring for the high-COM configuration. Hardware experiments show the same low-friction speed trend: at mu=0.12, torso-over-stance-leg motion increases forward speed and reduces cost of transport at both tested COM ratios, and the higher COM also improves both measures. The high-COM penguin configuration is the fastest and most energy efficient while maintaining low sideways foot motion. At mu=0.45, the COM trend reverses: the lower-COM configurations are faster and more energy efficient, while gait strategy has little effect on forward speed but still changes sideways foot motion. These results show that the effects of lateral torso motion and COM placement depend on the available friction, and that forward speed, energy use, and slip-related foot motion can be modulated with a penguin-inspired torso motion on hardware.
