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：为使双足仿人机器人在现实世界中成功运行，它们必须能够在实时应对意外外部干扰的同时，胜任同时执行多种运动任务。我们提出运动动力学织物（Kinodynamic Fabrics）作为一种方法，用于实时指定、求解并同时执行多种运动任务，同时能对环境中的动态变化作出反应。运动动力学织物允许将优先级的运动任务表示为强制谱半喷射（forced spectral semi-sprays），并以实时频率求解所需的机器人关节加速度。我们通过仿真和真实环境中的双足仿人机器人在多种具有物理挑战性的全身控制任务上评估了运动动力学织物的能力。实验表明，在多种全身控制任务中，运动动力学织物在运行时间和反应性指标上均优于基于二次规划（Quadratic Program）的现有最先进全身控制器。我们的运动动力学织物开源实现及机器人演示视频可于以下网址获取：https://adubredu.github.io/kinofabs。