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外部干扰。我们提出动动力学织物作为一种方法，用于实时指定、求解并同时执行多项运动任务，同时具备对环境动态的响应能力。动动力学织物允许将优先化的运动任务指定为强制谱半喷射，并以实时频率求解期望的机器人关节加速度。我们在仿真和现实环境中，通过双足人形机器人执行多种具有物理挑战性的全身控制任务，评估了动动力学织物的能力。实验表明，在多项全身控制任务的运行时间和响应性指标上，动动力学织物优于基于二次规划的最先进全身控制器。我们的动动力学织物开源实现以及机器人演示视频可在以下网址获取：https://adubredu.github.io/kinofabs。