Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model
Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model
复制标题
通过混合被动线性倒立摆模型进行 3D 欠驱动双足行走的轨道表征、稳定性和组合
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
A. Ames
中科院分区：
文献类型：
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作者：
Xiaobin Xiong;A. Ames
提出了一种混合被动式直线倒立摆（H-LIP）模型，用于描述、稳定和合成三维欠驱动双足步行的周期轨道。具体地，周期-1（P1）和周期-2（P2）轨道在H-LIP的状态空间中被几何地表征。步进控制器的设计是为了全局稳定的轨道。导出了增益的有效范围及其最优性。最优步进控制器被用来创建和稳定的双足机器人的步行。驱动弹簧加载倒立摆（aSLIP）模型和欠驱动机器人卡西用于说明。具有P1或P2轨道的aSLIP行走和具有P1和P2轨道的所有3D组成的Cassie行走都可以从原地踏步运动平滑地生成和稳定。该方法为三维欠驱动步行机器人的连续步态生成和稳定提供了一种视角和方法。
A Hybrid passive Linear Inverted Pendulum (H-LIP) model is proposed for characterizing, stabilizing and composing periodic orbits for 3D underactuated bipedal walking. Specifically, Period-l (P1) and Period -2 (P2) orbits are geometrically characterized in the state space of the H-LIP. Stepping controllers are designed for global stabilization of the orbits. Valid ranges of the gains and their optimality are derived. The optimal stepping controller is used to create and stabilize the walking of bipedal robots. An actuated Spring-loaded Inverted Pendulum (aSLIP) model and the underactuated robot Cassie are used for illustration. Both the aSLIP walking with PI or P2 orbits and the Cassie walking with all 3D compositions of the PI and P2 orbits can be smoothly generated and stabilized from a stepping-in-place motion. This approach provides a perspective and a methodology towards continuous gait generation and stabilization for 3D underactuated walking robots.