论文标题
动态步行：朝着敏捷而高效的双足机器人
Dynamic Walking: Toward Agile and Efficient Bipedal Robots
论文作者
论文摘要
在两足机器人上的动态行走已经从科幻小说中的想法演变为实践现实。这是由于三个关键领域的持续进展：对运动的数学理解，通过优化编码此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，这篇评论文章概述了方法的端到端过程，这些方法已证明在文献上有效实现了在两足动物上的动态行走。我们首先引入运动的数学模型，从捕获基本步行行为的订购模型到编码完整阶连续动力学以及离散的脚步动态的混合动力学系统。这些模型通过（非线性）优化问题构成了步态产生的基础。最后，模型及其生成的步态在实时控制的背景下合并，其中步行行为被转化为硬件。在整个模拟中都说明了所介绍的概念，并强调了多个步行平台上的实验实例化，以证明在敏捷和高效的双皮德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 article outlines the end-to-end process of methods which 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 footstrike 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 instantiation on multiple walking platforms are highlighted to demonstrate the ability to realize dynamic walking on bipedal robots that is agile and efficient.
