外观
论文arXiv 2609.333101 个月前
CompliantWBC：通过力潜变量估计和残差阻抗目标实现重型人形机器人的全身柔顺性
原文链接：CompliantWBC: Whole-Body Compliance for Heavy Humanoids via Force Latent Estimation and Residual Impedance Targets（arXiv 2609.33310 · 发布日期：2026-09-27）
CompliantWBC: Whole-Body Compliance for Heavy Humanoids via Force Latent Estimation and Residual Impedance Targets
针对重型人形机器人任意部位受扰的全身柔顺控制，CompliantWBC结合RL基策略、力编码器与残差阻抗目标，并在仿真和真机任务中验证。
核心要点
- 以往力感知学习方法多关注末端或上身，较少处理重型平台任意部位扰动与下肢参与。
- 基策略由RL训练，并受多部位全身阻抗参考控制器引导，将笛卡尔阻抗扩展到受控连杆。
- 有界残差策略在冻结基策略上编辑各连杆阻抗平衡，利用力编码器提供的结构化粗略力估计。
- 仿真中对比柔顺和刚性基线，柔顺保真偏差达2.58厘米；真机展示多类任务。
验证范围与局限：验证包括仿真对比，以及真实重型人形机器人上的静/动态受力反应、擦板、负载下蹲和协作搬运。
英文摘要 (Abstract)
Whole-body compliant control is essential for deploying heavy humanoids under high payload in human-centric environments. Most prior force-aware learning-based pipelines focus on end-effector resistance, per-link upper-body springs, or end-effector stiffness modulation, leaving arbitrary-site perturbations on heavy platforms with lower-body engagement largely unaddressed. We close this gap with CompliantWBC comprising: (1) A base policy trained with RL to maximize compliance-fidelity reward, guided by a multi-site whole-body impedance reference controller, extending classical Cartesian impedance to any controlled link; (2) A bounded residual policy that edits the per-link impedance equilibrium over a frozen base, correcting the coarse but structured wrench estimate supplied by a force encoder co-trained behind a gradient barrier; (3) A Phong-weighted force-origin sampler with an axis-decoupled pelvis anchor induces lower-body-inclusive compliance curriculum training via two interpretable parameters. We evaluate CompliantWBC in simulation against both compliant and stiff baselines, achieving best compliant fidelity of 2.58cm deviation from analytical solutions, and demonstrate it on a real heavy humanoid across static/dynamic force reaction, board wiping, squat under payload, and cooperative payload transport. Project website: https://dotandung.github.io/compliantwbc/
作者：Tan-Dzung Do, Cuc T. Trinh, Tuan Dat Phuong, Chien Le, Thanh Ly, Vien Anh Ngo, An T. Le
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