Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots
Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots
复制标题
验证腿式机器人动态运动基元之间的安全转换
DOI：
10.1109/iros51168.2021.9636537
复制
发表时间：
2021
期刊：
影响因子：
--
通讯作者：
A. Ames
中科院分区：
文献类型：
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作者：
Wyatt Ubellacker;Noel Csomay;T. Molnár;A. Ames
功能自主系统通常通过利用由离散的原始行为和这些行为之间的过渡来实现复杂的任务。对于个人动态原始行为的广泛研究是相对稀疏的，我们称为“运动原则”纸张在安全性的背景下确定运动原语之间的过渡的过程展示了这个框架，动态运动原始词（包括站立，行走和跳跃）以及这些行为之间的过渡在四足动物的机器人上实现。
Functional autonomous systems often realize complex tasks by utilizing state machines comprised of discrete primitive behaviors and transitions between these behaviors. This architecture has been widely studied in the context of quasi-static and dynamics-independent systems. However, applications of this concept to dynamical systems are relatively sparse, despite extensive research on individual dynamic primitive behaviors, which we refer to as "motion primitives." This paper formalizes a process to determine dynamic-state aware conditions for transitions between motion primitives in the context of safety. The result is framed as a "motion primitive graph" that can be traversed by standard graph search and planning algorithms to realize functional autonomy. To demonstrate this framework, dynamic motion primitives— including standing up, walking, and jumping—and the transitions between these behaviors are experimentally realized on a quadrupedal robot.
柔顺混合零动态行走的逆动力学控制
DOI：
10.1109/icra48506.2021.9560906
发表时间：
2021
期刊：
IEEE International Conference on Robotics and Automation (ICRA 2021
影响因子：
--
作者：
Reher, Jenna;Ames, Aaron D.
通讯作者：
Ames, Aaron D.
耦合控制系统：周期性轨道生成及其在四足运动中的应用
影响因子：
3
作者：
Ma, Wen-Loong;Csomay-Shanklin, Noel;Ames, Aaron D.
通讯作者：
Ames, Aaron D.