Dynamic Walking: Toward Agile and Efficient Bipedal Robots
Dynamic Walking: Toward Agile and Efficient Bipedal Robots
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DOI：
10.1146/annurev-control-071020-045021
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发表时间：
2021-01-01
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影响因子：
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通讯作者：
Ames, Aaron D.
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文献类型：
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作者：
Reher, Jenna;Ames, Aaron D.
双足机器人的动态行走已经从科幻小说中的想法发展成为现实。这是由于在三个关键领域的持续进展：对运动的数学理解，通过优化编码这种数学的计算能力，以及能够在实践中实现这种理解的硬件。在这种情况下，这篇评论概述了端到端的过程中，已被证明是有效的文献中实现动态行走的双足机器人的方法。我们开始介绍运动的数学模型，从降阶模型，捕捉基本的步行行为的混合动力系统，编码的全阶连续动态沿着与离散的脚罢工动态。这些模型通过（非线性）优化问题形成步态生成的基础。最后，模型及其生成的步态在实时控制的上下文中合并，其中步行行为被转换为硬件。所提出的概念在整个模拟中进行了说明，并强调了多个行走平台上的实验实例，以证明在敏捷和高效的双足机器人上实现动态行走的能力。
Dynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this mathematics through optimization, and the hardware capable of realizing this understanding in practice. In this context, this review outlines the end-to-end process of methods that have proven effective in the literature for achieving dynamic walking on bipedal robots. We begin by introducing mathematical models of locomotion, from reduced-order models that capture essential walking behaviors to hybrid dynamical systems that encode the full-order continuous dynamics along with discrete foot-strike dynamics. These models form the basis for gait generation via (nonlinear) optimization problems. Finally, models and their generated gaits merge in the context of real-time control, wherein walking behaviors are translated to hardware. The concepts presented are illustrated throughout in simulation, and experimental instantiations on multiple walking platforms are highlighted to demonstrate the ability to realize dynamic walking on bipedal robots that is both agile and efficient.