靈活越障、花樣空翻 ，騰訊輪腿式機器人亮相行業頂會ICRA

{"type":"doc","content":[{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"6月3日，騰訊輪腿式機器人Ollie（奧利）在機器人行業頂會ICRA正式亮相。它像一個靈活的“輪滑小子”，能完成跳躍、360度空翻等高難度動作。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"image","attrs":{"src":"https:\/\/static001.infoq.cn\/resource\/image\/00\/9b\/002930a23b9b462971076bbcca18a19b.gif","alt":null,"title":"","style":[{"key":"width","value":"75%"},{"key":"bordertype","value":"none"}],"href":"","fromPaste":false,"pastePass":false}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"輪腿式機器人（wheel-legged robot）是近年來機器人研究的前沿領域。Ollie兼具輪式結構和腿部能力，輪式結構移動快、效率高；腿部能力讓Ollie適應不平地面、完成跳躍臺階等動作，達到了行業領先水平。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"這是騰訊Robotics X實驗室的新型機器人。在自平衡自行車、機器狗Jamoca和Max之後，Ollie積累了實驗室的移動控制技術，並在運動規劃、平衡與穩定性上重點突破，成爲實驗室又一大創新成果。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"在日前舉辦的ICRA 2021，騰訊AI Lab及Robotics X實驗室主任張正友博士受邀作大會報告，介紹了Robotics X實驗室在機器人移動研究領域的佈局與進展，並分享了Ollie的技術細節。"}]},{"type":"heading","attrs":{"align":null,"level":2},"content":[{"type":"text","text":"“輪滑小子”首次亮相，跳躍、空翻樣樣在行"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"要讓機器人應對複雜地形，跳躍能力不可或缺。Ollie最低身高只有35釐米的Ollie，可以跳上40釐米的臺階，豎直起跳高度最高可達60釐米，能輕鬆完成360度空翻挑戰；在平地上時，Ollie更像是一個“不倒翁”，能抗住各種“突發”狀況。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":" "}]},{"type":"image","attrs":{"src":"https:\/\/static001.infoq.cn\/resource\/image\/26\/97\/26d98bdf5b4961eefb9cb9e22d1d0897.gif","alt":null,"title":"","style":[{"key":"width","value":"75%"},{"key":"bordertype","value":"none"}],"href":"","fromPaste":false,"pastePass":false}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"它單腿採用並聯機構，與身體形成五連桿結構，使整體具有結構簡單、動態性能高、爆發力強的特點；“尾巴”的獨特設計一方面爲Ollie提供額外角動量，助其完成更高動態運動，如空翻。同時“尾巴”可充當第三條腿，增加穩定性，爲搭載機械臂完成更多任務提供可能。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"應對複雜地形，完成高動態空翻動作背後，源於騰訊Robotics X實驗室的最新研究進展：非線性控制技術、全身動力學控制和軌跡規劃。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"strong"}],"text":"非線性控制技術"},{"type":"text","text":"讓機器人具備良好的平衡能力，此前實驗室研發的自平衡自行車已應用同類技術，在靜止及行進狀態下均保持平衡不倒。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"針對輪腿式機器人的形態和特點，騰訊Robotics X實驗室研發團隊適應性地應用非線性控制方法，控制器不再受限於模型的可線性化區間內，使機器人Ollie在大角度傾斜時也具有良好的平衡能力和魯棒性（Robust音譯，指在異常和危險情況下系統生存的能力）。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"在雙輪模式下，機器人與地面只有兩個接觸點，對平衡能力要求更高。在變換身高過不平整地面、甚至單腿過障礙時，Ollie都能完美保持平衡。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"image","attrs":{"src":"https:\/\/static001.infoq.cn\/resource\/image\/6a\/0f\/6a17e2f85a427a3c6b87fe50309b790f.gif","alt":null,"title":"","style":[{"key":"width","value":"75%"},{"key":"bordertype","value":"none"}],"href":"","fromPaste":false,"pastePass":false}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","marks":[{"type":"strong"}],"text":"全身動力學控制"},{"type":"text","text":"像給Ollie裝上了發達的“小腦”，其採用最優化方法求得各關節力矩來實現全身姿態調整，不僅能讓它實現更有挑戰的運動，並在面對突如其來的巨大沖擊如在空翻落地和遇到碰撞時，Ollie能“以柔克剛”，順利抵抗外界干擾，保持平衡。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"除了平衡能力之外，Ollie還擁有"},{"type":"text","marks":[{"type":"strong"}],"text":"軌跡規劃能力"},{"type":"text","text":"。在完成這些動作時，Ollie要動用自己的“大腦”提前“想好”運動軌跡，即如何應用自身的形態和結構特點，最大程度地發揮關節電機性能來實現目標運動。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"Ollie以全身動力學模型爲基礎，將整個跳躍或空翻過程分解爲起跳、飛行、落地三個階段，通過優化手段得到完成整個運動的關節電機位置、速度和關節力矩的參考值序列。"}]},{"type":"heading","attrs":{"align":null,"level":2},"content":[{"type":"text","text":"Robotics X移動能力再突破 論文入選機器人頂會ICRA"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"騰訊Robotics X實驗室主攻移動、靈巧操作和智能體三大機器人核心通用技術的研究與應用。其中，移動能力被認爲是機器人最核心、也是最基本的能力之一。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"實驗室移動技術框架包含機械設計、感知、運動規劃及控制，以及融合這三者的整機系統設計與搭建等四大模塊，他們分別可理解爲機器人的軀幹、眼睛、大腦，以及各“器官”協調的能力。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":" "}]},{"type":"image","attrs":{"src":"https:\/\/static001.geekbang.org\/infoq\/d0\/d0b281c61752c43000bb8b10389355b3.png","alt":null,"title":null,"style":[{"key":"width","value":"75%"},{"key":"bordertype","value":"none"}],"href":null,"fromPaste":true,"pastePass":true}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"Ollie的“輪滑”、“空翻”能力就來源於這些器官協調後的結果。在機械設計、整機系統與控制軟件上集成迭代了實驗室技術積累，並重點在運動規劃與控制上突破創新。新增的全身動力學控制與整機參數辨識提升了機器人運動的精準度、靈活度以及柔順性，拓展了實驗室的移動技術佈局。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"Ollie 相關研究論文已被 ICRA 2021 收錄，論文介紹了輪腿式機器人平衡控制器的設計思路與實驗結果。ICRA全稱國際機器人與自動化會議（IEEE International Conference on Robotics and Automation），是機器人領域最有影響力的國際學術會議之一。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":" "}]},{"type":"image","attrs":{"src":"https:\/\/static001.geekbang.org\/infoq\/e0\/e0f26f9aeefc925993f553e029aab782.png","alt":null,"title":null,"style":[{"key":"width","value":"75%"},{"key":"bordertype","value":"none"}],"href":null,"fromPaste":true,"pastePass":true}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"目前Ollie還處於研發階段，實驗室將基於輪腿式機器人平臺的機動性特點，拓展平臺上感知、負載等各功能模塊搭建，讓機器人具備更成熟、更豐富的能力。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"比如，本次團隊嘗試探索了Ollie的負載能力，兩輪、三輪可以隨意切換，再加上一個機械臂，讓它能夠平穩地端起一杯咖啡，通過輪式移動遞給遠處的客人。"}]},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":" "}]},{"type":"image","attrs":{"src":"https:\/\/static001.infoq.cn\/resource\/image\/4a\/17\/4a4184075af2370bcc9f810464689d17.gif","alt":null,"title":"","style":[{"key":"width","value":"75%"},{"key":"bordertype","value":"none"}],"href":"","fromPaste":false,"pastePass":false}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null}},{"type":"paragraph","attrs":{"indent":0,"number":0,"align":null,"origin":null},"content":[{"type":"text","text":"未來，騰訊 Robotics X實驗室還將在機器人行業做全方位、多領域的探索，向人機共存、共創、共贏的未來不斷邁進。"}]}]}