具備超限肢體的人形機器人分層運動框架

A Hierarchical Framework for Humanoid Locomotion with Supernumerary Limbs

November 25, 2025

作者: Bowen Zhi

cs.AI

摘要

在人形機器人上整合超限肢體會因引入的動態擾動而產生顯著的穩定性挑戰。本論文針對此問題，設計了一種新穎的分層控制架構，以提升搭載超限肢體的人形機器人運動穩定性。該框架的核心是結合基於學習的運動控制與基於模型的平衡策略的解耦方法。底層組件通過模仿學習與課程學習，為Unitree H1人形機器人構建步行步態；高層組件則主動利用超限肢體進行動態平衡。系統有效性在物理模擬環境中針對三種條件進行評估：未搭載負載的人形機器人基準步態、搭載靜態超限肢體負載的步行狀態，以及啟用動態平衡控制器後的步行狀態。評估結果表明，動態平衡控制器能有效提升穩定性：相較於靜態負載條件，平衡策略產生的步態模式更接近基準狀態，並將質心軌跡的動態時間規整距離降低47%。該平衡控制器還改善了步態週期內的再穩定能力，實現了更協調的地面反作用力反相位模式。結果驗證了解耦分層設計能有效抑制超限肢體質量與運動產生的內部動態干擾，為裝備功能性肢體的人形機器人實現穩定運動。相關程式碼與影片請參見：https://github.com/heyzbw/HuSLs。

English

The integration of Supernumerary Limbs (SLs) on humanoid robots poses a significant stability challenge due to the dynamic perturbations they introduce. This thesis addresses this issue by designing a novel hierarchical control architecture to improve humanoid locomotion stability with SLs. The core of this framework is a decoupled strategy that combines learning-based locomotion with model-based balancing. The low-level component consists of a walking gait for a Unitree H1 humanoid through imitation learning and curriculum learning. The high-level component actively utilizes the SLs for dynamic balancing. The effectiveness of the system is evaluated in a physics-based simulation under three conditions: baseline gait for an unladen humanoid (baseline walking), walking with a static SL payload (static payload), and walking with the active dynamic balancing controller (dynamic balancing). Our evaluation shows that the dynamic balancing controller improves stability. Compared to the static payload condition, the balancing strategy yields a gait pattern closer to the baseline and decreases the Dynamic Time Warping (DTW) distance of the CoM trajectory by 47\%. The balancing controller also improves the re-stabilization within gait cycles and achieves a more coordinated anti-phase pattern of Ground Reaction Forces (GRF). The results demonstrate that a decoupled, hierarchical design can effectively mitigate the internal dynamic disturbances arising from the mass and movement of the SLs, enabling stable locomotion for humanoids equipped with functional limbs. Code and videos are available here: https://github.com/heyzbw/HuSLs.