论文标题
DRS-LIP：用于动态刚性表面上的腿部运动的线性倒摆模型
DRS-LIP: Linear Inverted Pendulum Model for Legged Locomotion on Dynamic Rigid Surfaces
论文作者
论文摘要
在动态刚性表面上（即，在惯性框架中移动的刚性表面）上的腿部机器人运动涉及复杂的全阶动力学，高维，非线性和时间变化。为了推导可分析的动态模型，这项研究理论上扩展了降低的线性倒置摆（LIP）模型，从固定表面上的腿部运动到动态刚性表面上的运动（DRS）。所得模型在此称为DRS-LIP。此外，这项研究引入了提出的DRS-LIP的近似分析解决方案，该解决方案在计算上具有高度准确性。为了说明分析结果的实际用途，它们用于开发一个分层规划框架，该框架有效地生成了DRS运动的物理可行轨迹。通过模拟和实验性地证明了所提出的理论结果和运动计划者的有效性，并在骑摇动跑步机上行走的Laikago四足机器人进行了实验。
Legged robot locomotion on a dynamic rigid surface (i.e., a rigid surface moving in the inertial frame) involves complex full-order dynamics that is high-dimensional, nonlinear, and time-varying. Towards deriving an analytically tractable dynamic model, this study theoretically extends the reduced-order linear inverted pendulum (LIP) model from legged locomotion on a stationary surface to locomotion on a dynamic rigid surface (DRS). The resulting model is herein termed as DRS-LIP. Furthermore, this study introduces an approximate analytical solution of the proposed DRS-LIP that is computationally efficient with high accuracy. To illustrate the practical uses of the analytical results, they are used to develop a hierarchical planning framework that efficiently generates physically feasible trajectories for DRS locomotion. The effectiveness of the proposed theoretical results and motion planner is demonstrated both through simulations and experimentally on a Laikago quadrupedal robot that walks on a rocking treadmill.
