标题： 快速且模块化的带有形态变化的腿足机器人全身拉格朗日动力学 显示英文标题

标题： Fast and Modular Whole-Body Lagrangian Dynamics of Legged Robots with Changing Morphology

摘要： 快速且模块化的多足机器人（MLRs）建模对于弹性控制至关重要，尤其是在由机械损伤导致显著形态变化的情况下。 传统的固定结构模型通常是在假设典型步态的基础上开发的，缺乏适应此类场景的灵活性。 为了解决这个问题，我们提出了一种使用Boltzmann-Hamel方程和螺旋理论的快速模块化全身建模框架，其中每条腿的动力学独立建模，并根据当前机器人的形态组装。 这种无奇异性、封闭形式的公式化方法能够高效设计基于模型的控制器和损伤识别算法。 其模块化特性允许其自主适应各种损伤配置，而无需手动重新推导或重新训练神经网络。 我们通过一个自定义的仿真引擎验证了所提出的框架，该引擎集成了接触动力学、步态生成器和局部腿部控制。 与具有多条腿损伤的六足机器人硬件测试的对比仿真确认了模型的准确性和适应性。 此外，运行时分析显示，所提出的模型比实时快约三倍，使其适用于损伤识别和恢复的实时应用。 显示英文摘要

摘要： Fast and modular modeling of multi-legged robots (MLRs) is essential for resilient control, particularly under significant morphological changes caused by mechanical damage. Conventional fixed-structure models, often developed with simplifying assumptions for nominal gaits, lack the flexibility to adapt to such scenarios. To address this, we propose a fast modular whole-body modeling framework using Boltzmann-Hamel equations and screw theory, in which each leg's dynamics is modeled independently and assembled based on the current robot morphology. This singularity-free, closed-form formulation enables efficient design of model-based controllers and damage identification algorithms. Its modularity allows autonomous adaptation to various damage configurations without manual re-derivation or retraining of neural networks. We validate the proposed framework using a custom simulation engine that integrates contact dynamics, a gait generator, and local leg control. Comparative simulations against hardware tests on a hexapod robot with multiple leg damage confirm the model's accuracy and adaptability. Additionally, runtime analyses reveal that the proposed model is approximately three times faster than real-time, making it suitable for real-time applications in damage identification and recovery.