开源人形机器人Hector：人形运动操纵控制｜2023【南加州大学】
作者: 机器人科学与技术
作者简介: 奔向人类智能水平的【机器人科学与技术】
描述: 目前还未开源（会持续更新）！ Youtube: https://www.youtube.com/watch?v=NcW-NFwjMh0 Project Hector combines the knowledge acquired by our team in legged robot control and design in the past years. Our objective is to develop a cost-effective, small-scale, and power-dense humanoid robot hardware platform, which will be accessible to the broader robotics and control community. This project will provide the humanoid robot community with a robust testing platform and a software infrastructure that can serve as a strong foundation for future innovations. The Hector software and simulation will be made available as an open-source project and will undergo continuous enhancement and evolution with our latest research results. This video demonstrates the Force-and-moment-based MPC [1] our team developed with simplified rigid-body dynamics model and external force load dynamics [2] for humanoid locomotion and loco-manipulation control. “Hector, the breaker of horses.” – The Iliad by Homer [1] Li, Junheng, and Quan Nguyen. "Force-and-moment-based model predictive control for achieving highly dynamic locomotion on bipedal robots." 2021 60th IEEE Conference on Decision and Control (CDC). IEEE, 2021. [2] Li, Junheng, and Quan Nguyen. "Multi-contact MPC for Dynamic Loco-manipulation on Humanoid Robots." 2023 American Control Conference (ACC). IEEE, 2023.
