外观
论文arXiv 2609.331741 个月前
多地形掌控：面向双足运动的综合控制器
原文链接：Multi-Terrain Mastery: A Comprehensive Controller for Bipedal Locomotion（arXiv 2609.33174 · 发布日期：2026-09-27）
Multi-Terrain Mastery: A Comprehensive Controller for Bipedal Locomotion
提出单一多地形控制器，结合新冲击映射与实时控制结构，并在Cassie双足机器人上验证。
核心要点
- 多样真实环境难以预测，传统双足运动控制器常只适应特定表面。
- 方法在已有支撑踝电机工作的基础上，扩展到湿滑草坡、柔顺和受限地形。
- 引入新的冲击映射以保持性能，并提升对未见地形的鲁棒性。
- 控制结构面向机器人实时部署，并在20自由度Cassie双足机器人上验证。
验证范围与局限：验证范围为20自由度Cassie双足机器人及摘要列举的多类地形。
英文摘要 (Abstract)
Advancing bipedal robots to navigate diverse terrains remains a significant challenge in robotics. Traditional locomotion controllers excel on specific surfaces but struggle across varied environments, limiting their practical applications. Given the unpredictable nature of real-world environments, a single controller capable of handling multiple terrains is ideal, eliminating the need for multiple specialized controllers. We propose a multi-terrain controller to enhance the versatility and robustness of bipedal locomotion. Building on previous work with a stance ankle motor for stability on inclined and rough surfaces, this paper extends capabilities to steep wet uneven grassy slopes, and compliant terrains such as sand, gravel, rocks, and constrained terrains like staircases. To address the unique demands of these terrains, we introduce a new impact map that is essential for maintaining performance and robustness against unseen terrains. We also discuss in detail the control structure for real-time deployment on the robot. We validate our controller on the 20 degree-of-freedom Cassie bipedal robot.
作者：Oluwami Dosunmu-Ogunbi, Aayushi Shrivastava
来源
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