Velocity disturbance rejection for planar bipeds walking with HZD-based control
Velocity disturbance rejection for planar bipeds walking with HZD-based control
复制标题
基于 HZD 控制的平面两足行走速度扰动抑制
DOI：
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复制
发表时间：
2014
期刊：
影响因子：
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通讯作者：
J. Schmiedeler
中科院分区：
文献类型：
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作者：
David C. Post;J. Schmiedeler
基于混合零动态（HZD）控制的机器人行走容易受到速度扰动的影响，因为控制器通常是针对一个速度设计的。基于LQR的轨道稳定控制是使用未驱动速度反馈来解决这个问题的一种手段。但是，即使在链接相对较少的平面两足动物上，也很难通过实验在真实的时间内实现该方法。这项工作从模拟的平面两足动物中提取简单的运动学，在轨道稳定控制下拒绝速度扰动，以近似该功能。该算法在传统的基于HZD的五连杆平面机器人控制基础上进行了实验验证。结果表明，改进后的控制器比单纯的基于HZD的控制器更有效、更稳定地实现了机器人的行走。它还能够拒绝较大的减速干扰，并更快地返回到所需的步行周期。
Robots walking under hybrid zero dynamics (HZD)-based control are susceptible to velocity disturbances because the controller is typically designed for one speed. LQR-based orbital stabilization control is one means to address this issue using feedback on the unactuated velocity. The approach, though, is difficult to implement in real time experimentally even on planar bipeds with relatively few links. This work extracts simple heuristics from simulated planar bipeds rejecting velocity disturbances under orbital stabilization control to approximate that functionality. The heuristics are layered on top of traditional HZD-based control of a five-link planar biped robot for experimental validation. Results show that the heuristically modified controller yields more efficient and more stable walking for the biped than does HZD-based control alone. It also enables rejection of larger decelerating disturbances and more rapid return to the desired walking cycle.
影响因子：
2.4
作者：
England, Scott A.;Granata, Kevin P.
通讯作者：
Granata, Kevin P.