# 面向协作类人机器人的可组合动力学：RoboCompiler 扩展

> 原文链接：https://robotics.hellobike.com/papers/2026-10-09-2610-14237
> 频道：papers | 更新日期：2026-10-09 | 标签：arxiv, cs.RO
> 核心摘要：为物理连接类人机器人一致动力学，扩展 RoboCompiler 组装约化动力学，并在多构型状态与 MuJoCo 仿真中验证。

# 面向协作类人机器人的可组合动力学：RoboCompiler 扩展

::: v-pre
> 原文链接：[Composable Dynamics for Cooperative Humanoids: A RoboCompiler Extension](https://arxiv.org/abs/2610.14237)（arXiv 2610.14237 · 发布日期：2026-10-09）

**Composable Dynamics for Cooperative Humanoids: A RoboCompiler Extension**

为物理连接类人机器人一致动力学，扩展 RoboCompiler 组装约化动力学，并在多构型状态与 MuJoCo 仿真中验证。

## 核心要点

- 物理连接类人机器人需兼顾内部执行器环、机器人间力和变化的地面支撑。
- 方法按成员组装动力学，编译刚体、运动执行器部件和反射转子惯量的约化模型。
- 两级约化复用机器人模型，并组合支撑与手部连接，支持载荷更新和支撑模式切换。
- 264个状态中归一化加速度差异在两参考下分别不超过1.6e-10和1.4e-10。

**验证范围与局限**：验证范围为264个可行状态、八种类人构型，以及 MuJoCo 中的 ring dance 和侧步仿真。

## 英文摘要 (Abstract)

Physically connected humanoids need consistent dynamics for internal actuator loops, inter-robot forces, and changing ground supports. We extend RoboCompiler with member-wise dynamics assembly, compiling reduced dynamics from rigid bodies, moving actuator parts, and reflected rotor inertias. Compiled body Jacobians and analytic constraint curvature yield an explicit Coriolis factor satisfying the power identity for floating-base quasi-velocities. A two-level reduction retains reusable robot models while composing their supports and hand connections; local inertial updates have rank at most six, and prescribed-acceleration constraint wrenches are affine in actuator efforts. These interfaces support actuator-aware tracking, coupled force allocation, payload updates, and support-mode switching for five hand-linked humanoids. Across 264 feasible states in eight humanoid configurations, normalised acceleration discrepancies remain within $1.6\!\times\!10^{-10}$ against a hard-constraint reference and $1.4\!\times\!10^{-10}$ against a compiler-independent reference; MuJoCo simulations achieve 0.73~mm root-mean-square (RMS) pelvis error in the ring dance and complete side steps through 20 support-mode changes.

作者：Mehdi Heydari Shahna, Jouni Mattila
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## 原始参考来源 (Sources)

- [arXiv 2610.14237：Composable Dynamics for Cooperative Humanoids: A RoboCompiler Extension](https://arxiv.org/abs/2610.14237)