**带有多余肢体的仿人机器人分层运动控制框架**

A Hierarchical Framework for Humanoid Locomotion with Supernumerary Limbs

November 25, 2025

作者: Bowen Zhi

cs.AI

摘要

人形机器人附加肢体（SL）的集成因其引入的动态扰动而带来显著稳定性挑战。本文通过设计新型分层控制架构来提升带SL人形机器人的运动稳定性。该框架核心采用解耦策略，将基于学习的运动控制与基于模型的平衡控制相结合：底层通过模仿学习与课程学习实现Unitree H1人形机器人的步行步态；高层则主动利用SL进行动态平衡。在物理仿真环境中对系统进行三种工况评估：无负载人形机器人基线步态（基线行走）、带静态SL负载行走（静态负载）以及启用动态平衡控制器行走（动态平衡）。实验表明，动态平衡控制器可有效提升稳定性——相较于静态负载工况，平衡策略产生的步态模式更接近基线，并将质心轨迹的动态时间规整（DTW）距离降低47%。该控制器还改善了步态周期内的再稳定能力，实现了更协调的地面反作用力（GRF）反相位模式。结果表明，解耦分层设计能有效抑制SL质量与运动产生的内部动态扰动，为配备功能性肢体的仿人机器人实现稳定运动。代码与视频详见：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.