Development of Novel Walking-assist Device Based on Passive Walking
Development of Novel Walking-assist Device Based on Passive Walking
复制标题
基于被动步行的新型步行辅助装置的研制
DOI：
10.1109/iros.2018.8594488
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Iwatsuki Kazuki
中科院分区：
文献类型：
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作者：
Sano Akihito;Iwatsuki Kazuki
通过仅施加关节扭矩的常见控制机制无法轻松实现欠驱动运动机器人的质心（CoM）的精确操纵。最近引入了一种新颖的间接方法，使用附在极限自行车步行机上的主动摆动质量。下一个重要问题是设计最佳控制输入以减少强制能量。在本文中，我们使用组合无缘轮作为应用我们基于相位振荡器理论的方法的简化示例。首先，我们介绍了这种欠驱动机器人的典型建模和控制。其次，我们通过在步行者步态间隔的不同阶段数值应用扰动并计算与未扰动时的偏差来获得相位响应曲线。第三，我们根据相位响应曲线分析得出摆动质量夹带组合无缘轮的最佳受力波形。作为生态延伸，进一步生成了 m:1 夹带的理想强迫波形。最后，通过Arnold舌头的锁定范围对所提出的方法进行了评估。结果表明，我们得出的最佳强制波形在所有候选方案中实现了 1:1 夹带的最佳性能。我们的方法的最大优势之一是其易于实施，从而使其适用于各种运动系统。
Precisely manipulating the center of mass (CoM) of the underactuated locomotion robot can't be easily achieved by common control mechanisms which apply only joint torques. A novel and indirect method has been recently introduced using an active wobbling mass attached to limit cycle walkers. The next important issue is to design an optimal control input to reduce the forcing energy. In this paper, we use combined rimless wheels as a simplified example to apply our method, which is based on the theory of phase oscillators. First, we introduce the typical modeling and control of this underactuated robot. Second, we obtain the phase response curve by numerically applying perturbations at different phases of the walker's gait interval and calculating the deviations from the unperturbed. Third, we analytically derive an optimal forcing waveform for the wobbling mass to entrain the combined rimless wheel based on the phase response curve. As an ecological extension, an ideal forcing waveform for m: 1 entrainment was further generated. Finally, the proposed method was evaluated by locking range of the Arnold tongues. The results show that the optimal forcing waveform we derived achieves the best performance for 1:1 entrainment among all the candidates. One of the strongest advantages of our method is the easiness of its implementation, prompting its applicability to a wide variety of locomotion systems.