论文标题
关于控制双足动力的接触点的角动量：基于唇部控制器的验证
Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-based Controller
论文作者
论文摘要
在控制两足球运动的过程中，质量中心的线性速度已被广泛接受为汇总机器人状态向量的主要变量。无处不在的无质腿线性倒置摆（LIP）模型基于它。在本文中，我们认为有关接触点的角动量具有多种特性，使其优于线性速度以进行反馈控制。为了不将角动量的好处与任何其他控制设计决策混淆，我们首先根据角动量重新重新制定标准的唇部控制器。然后，我们在20个自由度的两足机器人Cassie Blue上实施了由此产生的反馈控制器，每个腿占机器人总质量的近三分之一。在该控制器下，机器人可以快速步行，步行时快速转动，抑制大不动的障碍以及在崎rough的地形上的运动。本文中提出的推理适用于其他控制设计理念，无论它们是混合零动力学还是增强学习。
In the control of bipedal locomotion, linear velocity of the center of mass has been widely accepted as a primary variable for summarizing a robot's state vector. The ubiquitous massless-legged linear inverted pendulum (LIP) model is based on it. In this paper, we argue that angular momentum about the contact point has several properties that make it superior to linear velocity for feedback control. So as not to confuse the benefits of angular momentum with any other control design decisions, we first reformulate the standard LIP controller in terms of angular momentum. We then implement the resulting feedback controller on the 20 degree-of-freedom bipedal robot, Cassie Blue, where each leg accounts for nearly one-third of the robot's total mass of 35~Kg. Under this controller, the robot achieves fast walking, rapid turning while walking, large disturbance rejection, and locomotion on rough terrain. The reasoning developed in the paper is applicable to other control design philosophies, whether they be Hybrid Zero Dynamics or Reinforcement Learning.
