多地形掌握：双足运动综合控制器
Multi-Terrain Mastery: A Comprehensive Controller for Bipedal Locomotion
AI总结：
本研究提出一种多地形双足运动控制器，通过新冲击映射和实时控制结构，在Cassie机器人上实现对多种复杂地形的鲁棒导航。
AI中文摘要：
推进双足机器人在多样地形上的导航仍是机器人学中的重大挑战。传统运动控制器在特定表面上表现出色，但在多变环境中却难以应对，限制了其实际应用。鉴于现实世界环境的不可预测性，一个能够处理多种地形的单一控制器是理想的，无需多个专用控制器。我们提出了一种多地形控制器，以增强双足运动的多样性和鲁棒性。基于先前工作中用于在倾斜和粗糙表面上保持稳定性的支撑踝关节电机，本文将能力扩展到陡峭湿滑的不平草坡，以及沙地、砾石、岩石等柔性地形，和楼梯等受限地形。为应对这些地形的独特需求，我们引入了一种新的冲击映射，这对于在未见地形上保持性能和鲁棒性至关重要。我们还详细讨论了在机器人上实时部署的控制结构。我们在20自由度的Cassie双足机器人上验证了我们的控制器。
英文摘要：
Advancing bipedal robots to navigate diverse terrains remains a significant challenge in robotics. Traditional locomotion controllers excel on specific surfaces but struggle across varied environments, limiting their practical applications. Given the unpredictable nature of real-world environments, a single controller capable of handling multiple terrains is ideal, eliminating the need for multiple specialized controllers. We propose a multi-terrain controller to enhance the versatility and robustness of bipedal locomotion. Building on previous work with a stance ankle motor for stability on inclined and rough surfaces, this paper extends capabilities to steep wet uneven grassy slopes, and compliant terrains such as sand, gravel, rocks, and constrained terrains like staircases. To address the unique demands of these terrains, we introduce a new impact map that is essential for maintaining performance and robustness against unseen terrains. We also discuss in detail the control structure for real-time deployment on the robot. We validate our controller on the 20 degree-of-freedom Cassie bipedal robot.
