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Safe Adaptive Switching among Dynamical Movement Primitives: Application to 3D Limit-Cycle Walkers

机译:动态原始体之间的安全自适应切换:应用于3D极限循环步行者

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Complex robot motions are frequently generated by composing simpler primitive movements. We use this approach to formulate robot motion plans as sequences of primitives to be executed one after the other. When dealing with dynamical movement primitives, besides accomplishing the high-level objective, planners must also reason about the effect of the plan's execution on the safety of the platform. This task is exacerbated by the presence of disturbances, such as non-vanishing external forces. To address this issue, we present a framework that builds on rigorous control-theoretic tools to generate safely executable motion plans for externally excited robotic systems. We illustrate the proposed framework on adapting the motion of a 3D bipedal robot model to persistent external forcing by switching among dynamic movement primitives, each corresponding to a limit-cycle walking gait.
机译:复杂的机器人运动通常是通过组合更简单的原始运动来生成的。我们使用这种方法将机器人运动计划表述为要依次执行的图元序列。在处理动态运动原语时,计划者除了要实现高级目标外,还必须考虑计划执行对平台安全性的影响。由于存在干扰,例如外力不消失,该任务更加恶化。为了解决这个问题,我们提出了一个基于严格的控制理论工具的框架,可以为外部激励的机器人系统生成安全的可执行运动计划。我们说明了通过在动态运动原语之间进行切换来使3D双足机器人模型的运动适应持久性外部强迫的拟议框架,每一个均对应于极限循环步行步态。

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