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首页> 外文会议>International Conference on Automated Planning and Scheduling(ICAPS 2006); 2006; >Robust Execution of Temporally Flexible Plans for Bipedal Walking Devices
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Robust Execution of Temporally Flexible Plans for Bipedal Walking Devices

机译：健壮地执行双足步行设备的临时灵活计划

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摘要

Robotic wheeled rovers have been successfully controlled by activity execution systems that use plans with temporal flexibility to adapt to disturbances. These systems abstract away the detailed dynamic constraints of the controlled device. To control dynamic, devices, such as agile bipeds, we extend this execution paradigm to incorporate detailed dynamic constraints. Building upon prior work on dispatchable plan execution, we introduce a novel approach to flexible plan execution that achieves robustness by exploiting spatial as well as temporal plan flexibility. To accomplish this, we first transform the high-dimensional system into a set of low dimensional, weakly-coupled systems. Second, to coordinate these systems, we compile a plan into a flow tube description, representing all legal trajectories and their temporal coordination. Finally, the problem of runtime plan dispatching is reduced to maintaining state trajectories in their associated flow tubes. The approach is validated using a high fidelity biped simulation.
机译：活动执行系统已成功控制了机器人轮式漫游车，该系统使用具有时间灵活性的计划来适应干扰。这些系统抽象出了受控设备的详细动态约束。为了控制动态设备（例如敏捷两足动物），我们扩展了此执行范例以合并详细的动态约束。在有关可调度计划执行的先前工作的基础上，我们介绍了一种灵活的计划执行方法，该方法通过利用空间和时间计划灵活性来实现鲁棒性。为此，我们首先将高维系统转换为一组低维，弱耦合系统。其次，为了协调这些系统，我们将计划汇编成流量管描述，以表示所有法律轨迹及其时间协调。最终，运行时计划调度的问题减少为在其关联的流量管中保持状态轨迹。使用高保真两足动物仿真验证了该方法。

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