For bipedal humanoid robots to successfully operate in the real world, they must be competent at simultaneously executing multiple motion tasks while reacting to unforeseen external disturbances in real-time. We propose Kinodynamic Fabrics as an approach for the specification, solution and simultaneous execution of multiple motion tasks in real-time while being reactive to dynamism in the environment. Kinodynamic Fabrics allows for the specification of prioritized motion tasks as forced spectral semi-sprays and solves for desired robot joint accelerations at real-time frequencies. We evaluate the capabilities of Kinodynamic fabrics on diverse physically challenging whole-body control tasks with a bipedal humanoid robot both in simulation and in the real-world. Kinodynamic Fabrics outperforms the state-of-the-art Quadratic Program based whole-body controller on a variety of whole-body control tasks on run-time and reactivity metrics in our experiments. Our open-source implementation of Kinodynamic Fabrics as well as robot demonstration videos can be found at this url: https://adubredu.github.io/kinofabs.

翻译：为使双足人形机器人在现实世界中成功运行，它们必须能够同时执行多项运动任务，并实时应对不可预见的扰外力。我们提出动动力学织物作为一种方法，用于实时规范、求解和并行执行多项运动任务，同时具备对环境动态的反应性。动动力学织物支持将优先运动任务规范为强制谱半喷雾，并以实时频率求解所需的机器人关节加速度。我们在仿真和真实世界中，使用双足人形机器人评估了动动力学织物在多种具有物理挑战性的全身控制任务中的能力。实验表明，在各项全身控制任务的运行时间和反应性指标上，动动力学织物优于基于二次规划的最先进全身控制器。我们的开源动动力学织物实现及机器人演示视频可在此网址获取：https://adubredu.github.io/kinofabs。