Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots
Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots
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探索用于欠驱动人形机器人反应性全身控制的运动动力学织物
DOI：
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发表时间：
2023
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通讯作者：
J. Grizzle
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作者：
Alphonsus Adu;Grant Gibson;J. Grizzle
为了让双足人形机器人在现实世界中成功运行，它们必须能够同时执行多个运动任务，同时对不可预见的外部干扰做出实时反应。我们提出 Kinodynamic Fabrics 作为一种实时指定、解决和同时执行多个运动任务的方法，同时对环境中的动态做出反应。 Kinodynamic Fabrics 允许将优先运动任务指定为强制光谱半喷雾，并在实时频率下求解所需的机器人关节加速度。我们在模拟和现实世界中使用双足人形机器人评估运动动力学织物在各种具有物理挑战性的全身控制任务中的能力。在我们的实验中，Kinodynamic Fabrics 在运行时间和反应性指标方面的各种全身控制任务上优于基于最先进的二次程序的全身控制器。我们的 Kinodynamic Fabrics 开源实现以及机器人演示视频可以在以下网址找到：https://adubredu.github.io/kinofabs
For bipedal humanoid robots to successfully operate in the real world, they must be competent at simultaneously executing multiple motion tasks while reacting to unforeseen external disturbances in real-time. We propose Kinodynamic Fabrics as an approach for the specification, solution and simultaneous execution of multiple motion tasks in real-time while being reactive to dynamism in the environment. Kinodynamic Fabrics allows for the specification of prioritized motion tasks as forced spectral semi-sprays and solves for desired robot joint accelerations at real-time frequencies. We evaluate the capabilities of Kinodynamic fabrics on diverse physically-challenging whole-body control tasks with a bipedal humanoid robot both in simulation and in the real-world. Kinodynamic Fabrics outperforms the state-of-the-art Quadratic Program based whole-body controller on a variety of whole-body control tasks on run-time and reactivity metrics in our experiments. Our open-source implementation of Kinodynamic Fabrics as well as robot demonstration videos can be found at this url: https://adubredu.github.io/kinofabs