Performing highly agile acrobatic motions with a long flight phase requires perfect timing, high accuracy, and coordination of the whole body motion. To address these challenges, this paper presents a unified timing and trajectory optimization framework for legged robots performing aggressive 3D jumping. In our approach, we firstly utilize an effective optimization framework using simplified rigid body dynamics to solve for contact timings and a reference trajectory of the robot body. The solution of this module is then used to formulate a whole-body trajectory optimization based on the full nonlinear dynamics of the robot. This combination allows us to effectively optimize for contact timings while guaranteeing the accuracy of the jumping trajectory that can be realized in the hardware. We validate the efficiency of the proposed framework on the A1 robot model for various 3D jumping tasks such as double-backflips and double barrel roll off the high altitude of 2m and 0.8m respectively. Experimental validation was also successfully conducted for different 3D jumping motions such as barrel roll from a box or diagonal jumps.
翻译:为了应对这些挑战,本文件为进行3D激烈跳跃的脚步机器人提供了一个统一的时间和轨迹优化框架。在我们的方法中,我们首先使用一个有效的优化框架,使用简化的僵硬体动态来解决接触时间和机器人身体的参考轨迹。然后,该模块的解决方案用于根据机器人的完整非线性动态来设计一个全体轨道优化。这种组合使我们能够有效地优化接触时间,同时保证在硬件中可以实现的跳跃轨迹的准确性。我们验证了A1机器人模型中各种3D跳跃任务的拟议框架的效率,例如双回翻翻和双桶滚离2m和0.8m的高空。还成功地对不同的3D跳动动作进行了实验验证,例如从盒子或对角跳的桶卷。