This study proposes an integrated planning and control framework for achieving three-dimensional robust and dynamic legged locomotion over uneven terrain. The proposed framework is composed of three hierarchical layers. The high-level layer is a state-space motion planner designing highly dynamic locomotion behaviors based on a reduced-order robot model. This motion planner incorporates two robust bundles, named as invariant and recoverability bundles, which quantify analytical state-space deviations for robust planning design. The low-level layer is a model-based trajectory tracking controller capable of robustly realizing the planned locomotion behaviors. This controller is synthesized based on full-order hybrid dynamic modeling, model-based state feedback control, and Lyapunov stability analysis. The planning and control layers are concatenated by a middle-level trajectory generator that produces nominal behaviors for a full-order robot model. The proposed framework is validated through flat and uneven terrain walking simulations of a three-dimensional bipedal robot.

中文翻译：

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动态腿式运动的非周期性计划和控制框架

这项研究提出了一个综合的计划和控制框架，以在不平坦的地形上实现三维鲁棒性和动态腿式运动。所提出的框架由三个层次结构层组成。高级层是状态空间运动计划器，它基于降序机器人模型设计高度动态的运动行为。该运动计划器包含两个健壮的捆绑包，分别称为不变捆绑包和可恢复捆绑包，可对分析状态空间偏差进行量化以实现健壮的计划设计。低层是基于模型的轨迹跟踪控制器，能够可靠地实现计划的运动行为。该控制器基于全阶混合动力建模，基于模型的状态反馈控制和Lyapunov稳定性分析进行综合。计划和控制层由一个中层轨迹生成器连接，该生成器为全阶机器人模型生成名义行为。通过对三维双足机器人进行平坦和不平坦的地形行走模拟，对提出的框架进行了验证。