Reduced-order template models are widely used to control high degree-of-freedom legged robots, but existing methods for template-based whole-body control rely heavily on heuristics and often suffer from robustness issues. In this letter, we propose a template-based whole-body control method grounded in the formal framework of approximate simulation. Our central contribution is to demonstrate how the Hamiltonian structure of rigid-body dynamics can be exploited to establish approximate simulation for a high-dimensional nonlinear system. The resulting controller is passive, more robust to push disturbances, uneven terrain, and modeling errors than standard QP-based methods, and naturally enables high center of mass walking. Our theoretical results are supported by simulation experiments with a 30 degree-of-freedom Valkyrie humanoid model.

中文翻译：

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基于模板的全身控制的近似仿真

降阶模板模型被广泛用于控制高自由度腿式机器人，但现有的基于模板的全身控制方法严重依赖启发式方法，并且经常存在鲁棒性问题。在这封信中，我们提出了一种基于近似模拟形式框架的基于模板的全身控制方法。我们的主要贡献是展示如何利用刚体动力学的哈密顿结构来建立高维非线性系统的近似模拟。由此产生的控制器是被动的，与基于 QP 的标准方法相比，在推动干扰、不平坦的地形和建模错误方面更加稳健，并且自然能够实现高重心行走。我们的理论结果得到了 30 自由度 Valkyrie 人形模型的模拟实验的支持。