3-D biped walking using double support phase based on the assumption of point-contact
3-D biped walking using double support phase based on the assumption of point-contact
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DOI：
10.1109/mhs.2011.6102216
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发表时间：
2011-12
期刊：
影响因子：
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通讯作者：
T. Aoyama;K. Sekiyama;Y. Hasegawa;T. Fukuda
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文献类型：
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作者：
T. Aoyama;K. Sekiyama;Y. Hasegawa;T. Fukuda
本文描述了一种基于点接触假设的三维离散行走方法。大多数基于点接触的仿人步行控制方法都假设脚接触是完全非弹性碰撞，且是瞬间发生的。因此，当不满足这些假设时，很难实现漫游。为了解决这个问题，我们提出了一种基于被动动态自主控制（PDAC）的点接触方法，使用双支撑阶段的三维步行控制。通过使用双支撑阶段，机器人动力学收敛到稳定的轨道，即使发生干扰在脚接触。此外，本文介绍了一种自适应控制方法的PDAC常数，有利于稳定。最后，通过数值仿真验证了该算法的有效性.
This paper describes a three-dimensional biped walking based on the assumption of point-contact. Most of biped walking control methods based on point-contact assume that foot-contact is completely inelastic collision and it occurs for a moment. Thus, it is difficult to realize biped walking when the assumptions are not satisfied. In order to solve this problem, we propose a three-dimensional biped walking control using a double support phase based on Passive Dynamic Autonomous Control (PDAC) that is one of point-contact methods. By use of the double support phase, the robot dynamics converges to stable orbit even if a disturbance happens at a foot-contact. Also, this paper introduces an adaptation control method of the PDAC constants that facilitates stabilization. Finally, the proposed biped walking algorithm is verified by numerical simulation.