Actuated Dual-Slip Model of Planar Slope Walking
Actuated Dual-Slip Model of Planar Slope Walking
复制标题
平面斜坡行走的驱动双滑移模型
DOI：
10.1115/detc2019-97601
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Schmiedeler, James P.
中科院分区：
文献类型：
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作者：
Galindo, Raul Lema;Weimholt, Elise;Schmiedeler, James P.
平面双弹簧倒立摆（dual-SLIP）模型是一种公认的人体在平地上行走的被动模型。本文应用驱动扩展的模型上行走的倾斜和下降，以评估它如何捕捉在人类斜坡行走中观察到的行为。的动机是应用模板，以改善控制的人形机器人行走和/或意图检测exobron-assisted步行。驱动平面双滑移模型的步态是通过求解十个参数的约束非线性优化问题得到的。这些参数中的大多数定义了致动方案，该致动方案为倾斜行走注入能量并为倾斜行走吸收能量以实现周期性的非保守步态。在1.0到1.6的速度范围和-10到10度的坡度范围内的解决方案步态表现出人类行走的一些特征，例如坡度对站立持续时间、步频和步长的影响。通过强制执行在解决方案步态中观察到的关系来减少优化的参数数量的努力被证明是不成功的，这表明未来的工作必须权衡模型的复杂性和人类行为的保真度。
The planar dual spring-loaded inverted pendulum (dual-SLIP) model is a well-established passive template of human walking on flat ground. This paper applies an actuated extension of the model to walking on inclines and declines to evaluate how well it captures the behavior observed in human slope walking. The motivation is to apply the template to improve control of humanoid robot walking and/or intent detection in exoskeleton-assisted walking. Gaits of the actuated planar dual-SLIP model are found via the solution of a constrained nonlinear optimization problem in ten parameters. The majority of those parameters define the actuation scheme that injects energy for incline walking and absorbs energy for decline walking to achieve periodic, nonconservative gaits. Solution gaits across the speed range of 1.0 to 1.6and slope range of −10 to 10 degrees exhibit some of the characteristics of human walking, such as the effect of slope on stance duration, step frequency, and step length. Efforts to reduce the number of parameters optimized by enforcing relationships observed in the solution gaits proved unsuccessful, suggesting that future work must trade off model complexity with fidelity of representation of human behavior.