论文标题
通过自适应频率MPC在不平坦的垫脚石上进行双足机器人的动态步行
Dynamic Walking of Bipedal Robots on Uneven Stepping Stones via Adaptive-frequency MPC
论文作者
论文摘要
本文介绍了一个新型的自适应频率MPC框架，用于在地形上具有不均匀的垫脚石上的两足球运动。详细说明，我们打算通过此MPC实现双足动物周期性步态的自适应脚部和步态时期，以便在不降低速度的情况下以不连续性穿越地形。我们将这种自适应频率MPC与基诺动力学轨迹优化，以最佳步态时期，质量中心（COM）轨迹和脚部位置配对。我们使用全身控制（WBC）以及自适应频率MPC来跟踪离线优化的最佳轨迹。在数值验证中，我们具有优化的自适应频率MPC框架已显示出比固定频率MPC的优势。所提出的框架可以控制两足机器人，以穿过带有扰动的石头高度，宽度和表面形状的不均匀的垫脚石地形，同时保持平均速度为1.5 m/s。
This paper presents a novel Adaptive-frequency MPC framework for bipedal locomotion over terrain with uneven stepping stones. In detail, we intend to achieve adaptive foot placement and gait period for bipedal periodic walking gait with this MPC, in order to traverse terrain with discontinuities without slowing down. We pair this adaptive-frequency MPC with a kino-dynamics trajectory optimization for optimal gait periods, center of mass (CoM) trajectory, and foot placements. We use whole-body control (WBC) along with adaptive-frequency MPC to track the optimal trajectories from the offline optimization. In numerical validations, our adaptive-frequency MPC framework with optimization has shown advantages over fixed-frequency MPC. The proposed framework can control the bipedal robot to traverse through uneven stepping stone terrains with perturbed stone heights, widths, and surface shapes while maintaining an average speed of 1.5 m/s.
