Fallon Maurice
Oxford Robotics Institute, University of Oxford, Oxford, UK.
Interface Focus. 2018 Aug 6;8(4):20180015. doi: 10.1098/rsfs.2018.0015. Epub 2018 Jun 15.
In this article, we review methods for localization and situational awareness of biped and quadruped robotics. This type of robot is modelled as a free-floating mechanical system subject to external forces and constrained by whole-body distributed rigid contacts. Measurements of the state of the robot can be made using a variety of sensor information-such as kinematics (the sensing of the joint angles of the robot), contact force (pressure sensors in the robot's feet), accelerometers and gyroscopes as well as external sensors such as vision and LIDAR. This high-frequency state estimate is then passed to the control system of the robot to allow it to traverse terrain or manipulate its environment. In this article, we describe the development of an estimator for the Boston Dynamics Atlas humanoid robot. It was later adapted to the HyQ2 quadruped, developed by the Istituto Italiano di Tecnologia. Some discussion is given as to future trends while also considering briefly the relationship with biological systems.
在本文中，我们回顾了两足和四足机器人的定位及态势感知方法。这类机器人被建模为一个受外力作用且受全身分布式刚性接触约束的自由浮动机械系统。可使用多种传感器信息来测量机器人的状态，如运动学信息（机器人关节角度的传感）、接触力（机器人脚部的压力传感器）、加速度计和陀螺仪，以及诸如视觉和激光雷达等外部传感器。然后，这个高频状态估计值会被传递给机器人的控制系统，使其能够穿越地形或操控其环境。在本文中，我们描述了一种针对波士顿动力公司阿特拉斯人形机器人的估计器的开发情况。该估计器后来被改编用于意大利技术研究院研发的HyQ2四足机器人。文中还讨论了未来的发展趋势，并简要考虑了与生物系统的关系。
