With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots. The primary focus of this paper is on the development of an alternative approach to the implementation of controllers utilizing control Lyapunov function based quadratic programs. This approach utilizes many of the desirable aspects from successful inverse dynamics based controllers in the literature, while also incorporating a variant of control Lyapunov functions that renders better convergence in the context of tracking outputs. The principal benefits of this formulation include a greater ability to add costs which regulate the resulting behavior of the robot. In addition, the model error-prone inertia matrix is used only once, in a non-inverted form. The result is a successful demonstration of the controller for walking in simulation, and applied on hardware in real-time for dynamic crouching.

中文翻译：

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控制李雅普诺夫函数的逆动力学方法

为了在欠驱动系统上实现越来越动态的行为，本文提出了一种基于优化的方法，用于解决欠驱动双足机器人上基于全身动力学的控制器问题。本文的主要重点是开发一种替代方法，以利用基于控制李雅普诺夫函数的二次程序来实现控制器。这种方法利用了文献中成功的基于逆动力学的控制器的许多理想方面，同时还结合了控制 Lyapunov 函数的变体，在跟踪输出的上下文中呈现更好的收敛性。这种公式的主要好处包括更大的增加成本的能力，从而调节机器人的最终行为。此外，模型容易出错的惯性矩阵仅使用一次，以非逆形式使用。结果是在仿真中成功演示了用于行走的控制器，并实时应用于硬件以实现动态蹲伏。