尝试揭开Atlas后空翻的面纱-其背后的技术浅析
- 作者 · 段晋军
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- 2017-12-14
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1. Atlas属于Limbed system（Spring Handbook of Robotics的P419-441）的一种类型，贴几张图片吧。
2. 进一步细化，Atlas属于Legged Robots（Spring Handbook of Robotics的P1203-1263）。
（One of the major difficulties in making a legged robot walk or run is keeping its balance: where should the robot place its feet, how should it move its body in order to move safely in a given direction, even in case of strong perturbations? This difficulty comes from the fact that contact forces with the environment are an absolute necessity to generate and control locomotion, but they are limited by the mechanical laws of unilateral contact）。
（1） The Dynamic of Legged Locomotion
① In Contact with a Flat Ground：The Center of Pressure. In Contact with Multiple Surfaces.
② Contact Models.
③ Compliant Contact Models.
④ Rigid Contact Models.
⑤ Hybrid and Nonsmooth Dynamics.
⑥ Stability Analysis - Not Falling Down.
⑦ Generation of Dynamic Walking and Running Motions.
⑧ Motion and Force Control.
⑨ Towards Move Efficient Walking.
⑩ Different Contact Behaviors。
内容实在是太多，不可能通过一篇文章解释清楚，所以只给出了大概的解释和内容，起到抛砖引玉的效果。
强烈推荐看一篇论文来了解Atlas：Kuindersma S, Deits R, Fallon M, et al. Optimization-based locomotionplanning, estimation, and control design for the atlas humanoid robot[J]. Autonomous Robots, 2016, 40(3):429-455.
参考文献：Siciliano B, Khatib O. Springer Handbook of Robotics[J]. Springer Handbook of Robotics, 2016.
本文转载自知乎，作者：段晋军，如若转载请联系原作者。
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