Robot
- 相关领域
- control - PID、运动学、轨迹、步态
- locomotion - 足式机器人、行走、跌倒恢复
- actuator - 舵机、电机、齿隙、摩擦
- perception - IMU、姿态、本体感觉
- simulation - MuJoCo、Sim2Real
- reinforcement-learning
- hardware - SBC、PCB、BOM、3D 打印件
| abbr. | stand for | cn |
|---|---|---|
| PPO | Proximal Policy Optimization | 近端策略优化 |
| IMU | Inertial Measurement Unit | 惯性测量单元 |
| ToF | Time of Flight | 飞行时间 |
| LiDAR | Light Detection and Ranging | 激光雷达 |
| PID | Proportional–Integral–Derivative | 比例–积分–微分 |
| DOF | Degrees of Freedom | 自由度 |
| NPU | Neural Processing Unit | 神经网络处理器 |
| BAM | — | — |
| EMF | Electromotive Force | 反电动势 |
| SBC | Single-Board Computer | 单板计算机 |
| en | cn |
|---|---|
| Dynamixel | Dynamixel 舵机 |
| Servo | 舵机 |
| proprioception | 本体感觉 |
| motor voltage | 电机电压 |
| Back EMF | 反电动势 |
| Coulomb friction | 库仑摩擦 |
| Stribeck friction | 斯特里贝克摩擦 |
| Load-dependent friction | 负载相关摩擦 |
| Battery voltage | 电池电压 |
| Voltage sag | 电压下垂 |
| Command delay | 指令延迟 |
| gear | 齿轮 |
| backslash variant | 齿隙变化 |
| dead zone | 死区 |
| position error | 位置误差 |
| servo-to-servo variance | 舵机间差异 |
| mass | 质量 |
| center of mass | 质心 |
| domain randomization | 域随机化 |
| curricula | 课程学习 |
| Policy ABI | 策略 ABI |
| actual orientation | 实际姿态 |
| robotics |
关节
| en | cn |
|---|---|
| joint | 关节 |
| leg | 腿 |
| hip yaw | 髋关节偏航 |
| hip roll | 髋关节横滚 |
| hip pitch | 髋关节俯仰 |
| knee | 膝关节 |
| ankle | 踝关节 |
| head | 头部 |
| neck pinch | 颈部夹持 |
| head pinch | 头部夹持 |
| head yaw | 头部偏航 |
| head roll | 头部横滚 |
动作
| en | cn |
|---|---|
| behavior | 行为 |
| twist | 扭转 |
| nod | 点头 |
| shake | 摇头 |
| gaze | 注视 |
| pose | 姿态 |
| gesture | 手势 |
| motion | 动作 |
| action | 动作（控制指令） |
| joint command | 关节指令 |
| joint target position | 关节目标位置 |
| joint target velocity | 关节目标速度 |
| torque command | 力矩指令 |
| trajectory | 轨迹 |
| keyframe | 关键帧 |
| interpolation | 插值 |
| inverse kinematics | 逆运动学 |
| forward kinematics | 正运动学 |
| walking gait | 步态 |
| kick | 踢腿 |
| stand up | 起立 |
| sit down | 坐下 |
| fall recovery | 跌倒恢复 |
- 状态
- joint angle
- joint velocity
- IMU orientation
- angular velocity
- gravity direction
- previous action
- IMU
- accelerometer
- gyroscope
- 加速度、角速度、姿态
- MujoCo
- Linux SBC
- BOM, PCB, STL
- Robotis Dynamixel XL330
- Radxa Zero 3 / ROK3566
- Sim2Real
Servo
- Dynamixel XL330
- Feetech STS3215
- Feetech SCS/STS
- Waveshare Serial Bus Servo
- LewanSoul LX-16A
IMU
- MPU6050
- ICM42688
- BMI270