Control of a 3D Quadruped Trot
Control of a 3D Quadruped Trot
复制标题
3D 四足小跑的控制
DOI：
10.1007/3-540-26415-9_19
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
D. Orin
中科院分区：
文献类型：
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作者：
Luther R. Palmer;D. Orin
腿式车辆提供了优于轮式车辆的几个优点，特别是在破碎的地形上，但是目前太慢而不利于许多任务。小跑是许多四足动物疾驰的前兆，它采用高速驱动来协调每条腿的间歇性地面接触。顺应性元件和高功率致动器结合联合收割机，在这些短的推力间隔期间执行势能和动能的复杂交换。这些复杂性、在正常运行期间发生的摩擦和接触损失，加上高数量的自由度，使得三维（3D）动态四足动物运动非常难以精确建模以用于控制。由于这个原因，大部分的研究工作都集中在简化的平面系统，只允许在矢状面的运动。这些控制器中的许多仅在固定操作点附近表现良好，并且不能调节航向以实现运行方向的期望变化。本文提出了一种克服上述问题的三维小跑控制器。仿真结果表明，系统响应适当的变化，在所需的速度高达3米/秒，航向高达20度/秒。
Legged vehicles offer several advantages over wheeled vehicles, particularly over broken terrain, but are presently too slow to be advantageous for many tasks. Trotting, the precursor to galloping for many quadrupeds, employs high-speed actuation to coordinate the intermittent ground contacts for each leg. Compliant elements and high-power actuators combine to perform a complex interchange of potential and kinetic energy during these short thrust intervals. These complexities, the frictional and contact losses that occur during normal running, plus the high number of degrees of freedom make three-dimensional (3D) dynamic quadruped motion very difficult to model accurately for control. For this reason, most of the research effort has been focused on simplified planar systems, only allowing motion in the sagittal plane. Many of these controllers only perform well around a fixed operating point and cannot regulate heading for desired changes in running direction. A 3D trotting controller which overcomes the above problems is presented here. Simulation results show the system responding appropriately to changes in the desired speed up to 3 m/s and heading up to 20 deg/s.