论文标题
使用完整运动学和顺序力平衡的全身优化的多接触运动重新定位
Multi-Contact Motion Retargeting using Whole-body Optimization of Full Kinematics and Sequential Force Equilibrium
论文作者
论文摘要
本文提出了一个多接触运动适应框架，该框架能够在多接触设置中用于机能操作任务，以供高级自由度（DOF）机器人（例如四倍体和类人动物）进行远程关系。我们提出的算法优化了全身配置，并将多接触运动的重新定位为顺序二次编程，在可行性约束的边缘附近非常健壮且稳定。我们的框架允许机器人实时操作并减少操作员的认知负载，因为不可行的命令会自动适应机器人在物理稳定且可行的动作中。具有完整动力学的模拟的结果证明了对不同的腿部机器人进行交互式和产生丰富的多接触运动的有效性。我们评估了所提出的算法的计算效率，并通过到达，主动推动和对不均匀的地形的各种遍历，进一步验证和分析了人形和四倍的机器人的多接触机车操作任务。
This paper presents a multi-contact motion adaptation framework that enables teleoperation of high degree-of-freedom (DoF) robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multi-contact settings. Our proposed algorithms optimize whole-body configurations and formulate the retargeting of multi-contact motions as sequential quadratic programming, which is robust and stable near the edges of feasibility constraints. Our framework allows real-time operation of the robot and reduces cognitive load for the operator because infeasible commands are automatically adapted into physically stable and viable motions on the robot. The results in simulations with full dynamics demonstrated the effectiveness of teleoperating different legged robots interactively and generating rich multi-contact movements. We evaluated the computational efficiency of the proposed algorithms, and further validated and analyzed multi-contact loco-manipulation tasks on humanoid and quadruped robots by reaching, active pushing and various traversal on uneven terrains.
