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Push recovery and online gait generation for 3D bipeds with the foot placement estimator

机译:使用脚部位置估算器为3D两足动物进行推式恢复和在线步态生成

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Humanoid robots have many potential applications in man-made environments, including performing hazardous tasks, assisting the elderly, and as a replacement for our aging workforce. However, generating a reliable gait for biped robots is challenging, particularly for dynamic gait and in the presence of unknown external disturbances, such as a bump from someone walking by. In this work, a 3D formulation of the Foot Placement Estimator is used with a high-level control strategy to achieve a dynamic gait capable of handling external disturbances. A key benefit of this approach is that the robot is able to respond in real time to external disturbances regardless of whether it is at rest or in motion. This strategy is implemented in simulation to control a 14-DOF lower-body humanoid robot being subjected to unknown external forces, both when at rest and while walking, and shown to generate stabilizing stepping actions.
机译:类人机器人在人造环境中具有许多潜在应用,包括执行危险任务,为老年人提供帮助以及替代我们老化的劳动力。但是,为两足动物的机器人生成可靠的步态是具有挑战性的,特别是对于动态步态以及存在未知外部干扰(例如有人走过的撞击)的情况。在这项工作中,脚部位置估算器的3D公式与高级控制策略一起使用,以实现能够处理外部干扰的动态步态。这种方法的主要优势在于,无论静止状态还是运动状态,机器人都能够实时响应外部干扰。该策略在仿真中实现,以控制14自由度下半身人形机器人在静止和行走时均受到未知的外力作用,并显示出产生稳定的踩踏动作的能力。

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