For bipedal humanoid robots to successfully operate in the real world, they must be competent at simultaneously executing multiple motion tasks while reacting to unforeseen external disturbances in real-time. We propose Kinodynamic Fabrics as an approach for the specification, solution and simultaneous execution of multiple motion tasks in real-time while being reactive to dynamism in the environment. Kinodynamic Fabrics allows for the specification of prioritized motion tasks as forced spectral semi-sprays and solves for desired robot joint accelerations at real-time frequencies. We evaluate the capabilities of Kinodynamic fabrics on diverse physically challenging whole-body control tasks with a bipedal humanoid robot both in simulation and in the real-world. Kinodynamic Fabrics outperforms the state-of-the-art Quadratic Program based whole-body controller on a variety of whole-body control tasks on run-time and reactivity metrics in our experiments. Our open-source implementation of Kinodynamic Fabrics as well as robot demonstration videos can be found at this url: https://adubredu.github.io/kinofabs.
翻译:对于在现实世界中成功运行的两栖类人造机器人来说,它们必须有能力同时执行多重运动任务,同时对不可预见的外部实时干扰作出反应。我们建议Kino动力合成材料作为实时具体、解决方案和同时执行多运动任务的一种方法,同时对环境的活力作出反应。Kino动力合成材料允许将优先运动任务具体定为强制光谱半喷射线和实时频率所需机器人联合加速的解决方案。我们用模拟和现实世界中的两栖类人造机器人来评估Kino动力结构在各种生理挑战性整体控制任务方面的能力。Kino动力合成材料超越基于全体控制器的全体控制任务,我们实验中的运行时间和再活性度度测量标准。我们利用机器人演示视频对Kino动力合成材料进行公开源应用。在这个URl: https://adubredu.github.io/kinofabs上可以看到: https://adubredu. github.kinabs。</s>