Modeling, Analysis, and Control of SLIP Running on Dynamic Platforms
Modeling, Analysis, and Control of SLIP Running on Dynamic Platforms
复制标题
动态平台上运行的 SLIP 的建模、分析和控制
DOI：
10.1115/1.4046962
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Yan Gu
中科院分区：
文献类型：
--
作者：
A. Iqbal;Zhujun Mao;Yan Gu
利用一种简化的弹簧加载倒立摆（SLIP）动力学模型，对静止地形上腿式运动的复杂动力学行为进行了广泛分析。然而，即使使用简化的动力学模型（如SLIP），也没有对动态平台上的腿部运动进行彻底的研究。在本文中，我们介绍了在动态平台上运行的SLIP模型的建模、分析和控制。考虑了三种类型的动力平台：(a)正弦激励刚体平台；(b)弹簧支撑的刚体平台；(c)欧拉-伯努利梁。这些平台捕捉了现实世界运动地形的一些重要领域（例如，谐波激励平台、悬浮地板和桥梁）。推导了滑移-平台系统的相互作用力模型和运动方程。在三种动态平台上对滑移体的数值模拟表明，即使滑移体运动的初始条件处于其在平坦静止平台上运动的引力范围内，平台运动也会使滑移体失稳。然后合成了一种简单的控制策略，可以在动态平台上维持SLIP的向前运动。通过仿真验证了所提出的控制策略在动态平台上维持滑移运动的有效性。
The complex dynamic behaviors of legged locomotion on stationary terrain have been extensively analyzed using a simplified dynamic model called the spring-loaded inverted pendulum (SLIP) model. However, legged locomotion on dynamic platforms has not been thoroughly investigated even by using a simplified dynamic model such as SLIP. In this paper, we present the modeling, analysis, and control of a SLIP model running on dynamic platforms. Three types of dynamic platforms are considered: (a) a sinusoidally excited rigid-body platform; (b) a spring-supported rigid-body platform; and (c) an Euler–Bernoulli beam. These platforms capture some important domains of real-world locomotion terrain (e.g., harmonically excited platforms, suspended floors, and bridges). The interaction force model and the equations of motion of the SLIP-platform systems are derived. Numerical simulations of SLIP running on the three types of dynamic platforms reveal that the platform movement can destabilize the SLIP even when the initial conditions of the SLIP motion are within the domain of attraction of its motion on flat, stationary platforms. A simple control strategy that can sustain the forward motion of a SLIP on dynamic platforms is then synthesized. The effectiveness of the proposed control strategy in sustaining SLIP motion on dynamic platforms is validated through simulations.
影响因子：
2.4
作者：
BLICKHAN, R
通讯作者：
BLICKHAN, R