Global position control for underactuated bipedal walking is a challenging problem due to the lack of actuation on the feet of the robots. In this paper, we apply the Hybrid-Linear Inverted Pendulum (H-LIP) based stepping on 3D underactuated bipedal robots for global position control. The step-to-step (S2S) dynamics of the H-LIP walking approximates the actual S2S dynamics of the walking of the robot, where the step size is considered as the input. Thus the feedback controller based on the H-LIP approximately controls the robot to behave like the H-LIP, the differences between which stay in an error invariant set. Model Predictive Control (MPC) is applied to the H-LIP for global position control in 3D. The H-LIP stepping then generates desired step sizes for the robot to track. Moreover, turning behavior is integrated with the step planning. The proposed framework is verified on the 3D underactuated bipedal robot Cassie in simulation together with a proof-of-concept experiment.
翻译：由于机器人脚上缺乏动能作用,对活性不足的双足行走进行全球定位控制是一个具有挑战性的问题。 在本文中, 我们应用基于 3D 下动双足机器人的三维跳跃式双足机器人(H- LIP), 来进行全球定位控制。 H- LIP 行走的步进到步动态接近机器人行走的实际S2S动态, 步数被视为输入。 因此基于 H- LIP 的反馈控制器可以控制机器人的动作, 使机器人的行为与H- LIP 相似, 两者之间的差异会维持在不变的设置中。 模型预测控制( MPC) 适用于 H- LIP 3D 的全球定位控制。 然后, H- LIP 步步数会生成机器人跟踪所需的步数大小 。 此外, 转换行为会与步骤规划相结合。 在模拟时, 在 3D 低活性二肢机器人模拟时, 和 校对 校准实验 。
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