外观
论文arXiv 2609.075441 个月前
通过推力率输入全身模型预测控制实现飞行人形机器人的反重力行走
原文链接：Anti-Gravity Walking by a Flying Humanoid Robot via Thrust-Rate Input Whole-Body Model Predictive Control（arXiv 2609.07544 · 发布日期：2026-09-18）
Anti-Gravity Walking by a Flying Humanoid Robot via Thrust-Rate Input Whole-Body Model Predictive Control
针对反重力环境行走中的接触切换不稳定，提出推力率输入全身MPC，并在仿真和硬件实验中验证。
核心要点
- 飞行人形机器人现有运动主要限于空中飞行和地面行走，难以覆盖复杂三维空间。
- 方法以推力时间导数作为控制输入，在接触切换时保持推力轨迹连续并保留稀疏结构。
- 为应对反重力环境缺少自然支撑力，引入足法向接触力下界并在双支撑期平滑转移。
- 实现实时全身MPC框架，在仿真和硬件实验中展示飞行人形机器人的反重力行走。
验证范围与局限：验证范围为仿真和硬件实验中的飞行人形机器人反重力行走。
英文摘要 (Abstract)
Flying humanoids are expected to perform tasks in diverse environments, while their existing locomotion is mainly limited to aerial flight and ground walking. The capability to move in complex three-dimensional space can greatly expand their application range. For such walking motion on ceilings and similar anti-gravity environments, whole-body MPC is effective. However, the discontinuous changes in dynamic structure accompanying contact switching during walking can induce thrust spikes, resulting in control instability. Therefore, in this work, we propose and implement a real-time whole-body MPC framework for anti-gravity bipedal walking. First, we formulate whole-body MPC using the time derivative of thrust, namely thrust-rate, as the control input. This formulation guarantees continuity of the thrust trajectory during contact switching while preserving the sparse structure of the optimal control problem for fast computation. Second, we address the lack of natural support forces in anti-gravity environments. We introduce lower bounds on the foot-normal component of the contact force, and smoothly transfer them during the doublesupport phase. Finally, we implement the proposed framework and demonstrate anti-gravity walking by a flying humanoid through simulation and a hardware experiment. To the best of our knowledge, this is the first demonstration of multi-contact whole-body MPC for a transformable aerial robot and walking by a flying humanoid beyond the ground.
作者：Kazuki Sugihara, Kei Okada
来源
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