论文标题
方向控制系统：增强四足机器人的空中操作
Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots
论文作者
论文摘要
对于腿部机器人，航空动作是唯一可以通过标准的运动步态绕过的障碍物的唯一选择。在这些情况下，机器人必须进行飞跃以跳到障碍物或飞越障碍物上。但是，这些运动代表了一个挑战，因为在飞行阶段，质量中心（COM）无法控制，机器人方向的可控性有限。本文重点介绍了后一个问题，并提出了一个方向控制系统（OCS），该系统由两个旋转和驱动的质量（飞轮或反应轮）组成，以获得机器人方向的控制权。由于具有角动量的保护，即使与地面没有接触，它们的旋转速度也可以调节以引导机器人方向。飞轮的旋转轴设计为入射，导致一个紧凑的方向控制系统，该系统能够控制滚动和俯仰角，考虑到这两个方向的不同惯性矩。我们用机器人Solo12上的模拟测试了该概念。
For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvent with standard locomotion gaits. In these cases, the robot must perform a leap to either jump onto the obstacle or fly over it. However, these movements represent a challenge because during the flight phase the Center of Mass (CoM) cannot be controlled, and the robot orientation has limited controllability. This paper focuses on the latter issue and proposes an Orientation Control System (OCS) consisting of two rotating and actuated masses (flywheels or reaction wheels) to gain control authority on the robot orientation. Because of the conservation of angular momentum, their rotational velocity can be adjusted to steer the robot orientation even when there are no contacts with the ground. The axes of rotation of the flywheels are designed to be incident, leading to a compact orientation control system that is capable of controlling both roll and pitch angles, considering the different moment of inertia in the two directions. We tested the concept with simulations on the robot Solo12.
