外观
论文arXiv 2609.3870928 天前
CEER2：用于人形机器人移动操作的方向性可调末端执行器与根部柔顺性
原文链接：CEER2: Directional and Tunable End-Effector and Root Compliance for Humanoid Loco-Manipulation（arXiv 2609.38709 · 发布日期：2026-09-30）
CEER2: Directional and Tunable End-Effector and Root Compliance for Humanoid Loco-Manipulation
针对人形机器人接触中兼顾受力响应与任务运动的问题，CEER2以分层强化学习调制全身跟踪策略，并在仿真和真机人形机器人上验证。
核心要点
- 动机是人形机器人接触人或环境时，需按方向响应外力并保持任务运动。
- 方法结合方向性、可调EE柔顺性与可选择根部柔顺性，支持拒力或随力。
- 分层强化学习通过高层EE和根部命令调制固定全身跟踪策略。
- 实验展示方向刚度控制、在线刚度调整、根部柔顺、柔顺操作和协同搬运。
验证范围与局限：验证范围为仿真和一台人形机器人真机，涵盖摘要所列柔顺操作与协同搬运等演示。
英文摘要 (Abstract)
Humanoids are increasingly capable of tracking complex whole-body motions, but physical interaction introduces a different challenge. When a robot makes contact with a person or the environment, it needs to respond to external forces while preserving the motion needed for the task. This response can vary across directions in the end-effectors and on the body. For example, an end effector may need to accommodate contact force in one direction while maintaining motion accuracy in another, while the robot body may resist an external force or move with it. We present a compliance framework for humanoid loco-manipulation that combines directional and tunable end-effector (EE) compliance with selectable root compliance for external force rejection or force following. A hierarchical reinforcement learning controller modulates a fixed whole-body tracking policy through high-level EE and root commands, while interaction forces are estimated from proprioceptive history. Our simulation and real-world experiments on a humanoid demonstrate directional stiffness control, online stiffness adjustment, distinct root compliance, compliant manipulation, and collaborative carrying.
作者：Xinyuan Luo, Chunyuan Yang, Boyuan Chen, Xianyi Cheng
来源
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