Deadbeat control with (almost) no sensing in a hybrid model of legged locomotion
Deadbeat control with (almost) no sensing in a hybrid model of legged locomotion
复制标题
在腿式运动混合模型中（几乎）无传感的无差拍控制
DOI：
10.1109/icamechs.2014.6911592
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Shai Revzen
中科院分区：
文献类型：
--
作者：
George Council;Shiyi Yang;Shai Revzen
混合系统通常作为机电一体化设备的模型出现，并用于表达当机械接触建立或断开时发生的动态不连续过渡。接触状态的变化可能与控制权的急剧变化相一致，当它们被外部驱动时，会成为不必要的干扰源。在自然界中，这样的系统出现在快速的腿运动中。我们提出了一个见解，来自运行的动物的分析-即动力学可以部分或全部通过几何编码所需的控制律的前馈轨迹的附属物控制。由此产生的系统不使用传感，或几乎不使用传感，但可以表现出很强的（无差拍）稳定性。我们提供了一个理论证明的一般结果，然后模拟研究的简化模型的垂直跳跃，拒绝地面高度的变化，而不感测地面。因此，我们表明，机电控制器的非平凡的任务，如操作和腿运动可以实现机械，很少或没有传感，通过编码的控制律在开环运动选择。我们的研究结果强调，在现有的动物或机器的控制机制的识别必须考虑到，这种几何稳定可能存在没有神经或计算反馈。
Hybrid systems often appear as models of mechatronic devices, and are used to express the discontinuous transition in dynamics that occurs when mechanical contacts are made or broken. Contact state changes can coincide with dramatic shifts in control authority, and become sources of unwanted disturbance when they are exogenously driven. In the natural world, such systems appear in rapid legged locomotion. We present an insight derived from the analysis of running animals - namely that dynamics can be partially or fully controlled through geometric encoding of the desired control law in the feedforward trajectories of the appendages. The resulting systems use no sensing, or nearly so, yet can exhibit strong (deadbeat) stability. We provide a theoretical proof of a general result, then a simulation study of a simplified model of vertical hopping which rejects ground-height changes without sensing the ground. We thereby show that mechatronic controllers for non-trivial tasks such as manipulation and legged locomotion could be implemented mechanically, with little or no sensing, by encoding the control laws in the open-loop motions chosen. Our results highlight that identification of a control mechanism in an existing animal or machine must take into account that such geometric stabilization may exist without neural or computational feedback.
影响因子：
2.4
作者：
BLICKHAN, R
通讯作者：
BLICKHAN, R