外观
论文arXiv 2610.1573517 天前
用于步行到跑步双足越障的几何感知预测控制
原文链接：Geometry-Aware Predictive Control for Walk-to-Run Bipedal Obstacle Crossing（arXiv 2610.15735 · 发布日期：2026-10-11）
Geometry-Aware Predictive Control for Walk-to-Run Bipedal Obstacle Crossing
提出几何感知预测控制框架，结合相位化轨迹生成与约束MPC，在降阶仿真中验证步行和跑步越障。
核心要点
- 面向双足系统在步行与跑步状态下越障，需协调骨盆与摆动足运动。
- 方法将越障划分为五个可解释阶段，并按障碍高度和深度调整足端与骨盆参考。
- 连续步态参数演化支持步行到跑步平滑过渡，MPC用于跟踪并约束运动可行性。
- 在五个渐难障碍的降阶仿真中，前四个成功跨越，最难第五个发生碰撞。
验证范围与局限：验证范围为步行和跑步条件下的五个障碍降阶仿真。
英文摘要 (Abstract)
This paper presents a geometry-aware predictive control framework for bipedal obstacle crossing across walking and running regimes. The proposed approach integrates a phase-structured trajectory generator with a constrained model predictive control (MPC) tracking layer to generate coordinated pelvis and swing-foot motions during obstacle traversal. The crossing process is represented through five interpretable phases: pre-crossing, leading-leg clearance, straddle, trailing-leg clearance, and recovery. Within this structure, swing-foot elevation is adapted as a function of obstacle height, while lateral stance widening and pelvis repositioning are introduced as functions of obstacle depth to improve transverse clearance and body alignment. A continuous gait-parameter evolution enables smooth walk-to-run transition without discrete controller switching. The generated references are tracked using MPC to regulate motion smoothness, clearance feasibility, touchdown behavior, and lateral admissibility. The framework is evaluated in reduced-order simulation over five progressively difficult obstacles under walking and running conditions. The robot successfully crosses the first four obstacles, achieving minimum body-obstacle clearances of 0.036, 0.036, 0.059, and 0.017 m, respectively. The fifth and most demanding obstacle leads to collision, identifying the current operating boundary of the proposed reduced-order formulation. Overall, the method provides a compact, interpretable, and computationally efficient basis for intelligent obstacle-aware bipedal locomotion.
作者：Aashish Sahu, R. Prasanth Kumar
来源
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