Maneuvering and stabilization control of a bipedal robot with a universal-spatial robotic tail
Maneuvering and stabilization control of a bipedal robot with a universal-spatial robotic tail
复制标题
具有通用空间机器人尾部的双足机器人的操纵和稳定控制
DOI：
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发表时间：
2018
影响因子：
3.4
通讯作者：
Pinhas Ben
中科院分区：
文献类型：
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作者：
W. Rone;Yujiong Liu;Pinhas Ben
本文分析了控制方法，以实现机动和稳定行为的双足机器人使用仿生机器人尾巴。在自然界中，许多动物使用尾巴来增强它们的腿的功能，许多动物使用尾巴来辅助操纵和稳定;在机器人文献中，以前的研究主要集中在单质量，类似尾巴的尾巴上，旨在执行特定任务。这项研究的首要目标是研究如何将仿生尾部设计与低复杂性的腿部设计结合起来，以实现高性能的行为。为了实现这一目标，本文将蛇形通用空间机器人尾部（USRT）与由一对机器人模块化腿组成的机器人连接起来，研究实现偏航角转弯和稳定抬腿所需的外环和内环控制考虑。尾部和腿部子系统的设计和建模，沿着与实时感测USRT的配置的考虑。此外，两个内环控制器，映射到致动命令所需的尾部轨迹：规定的速度方法，只利用电机反馈，并规定的扭矩方法，结合了前馈考虑的尾部动态和反馈考虑从尾部感测。还定义了两个外环控制器，一个用于偏航角转向（机动），一个用于抬起脚时的滚转角干扰抑制（稳定）。包括仿真和实验结果的案例研究被用来验证外环控制方法。
This paper analyzes control methodologies to implement maneuvering and stabilization behaviors in a bipedal robot using a bioinspired robotic tail. Looking to nature, numerous animals augment their legs’ functionality using a tail nature, numerous animals augment their legs’ functionality using a tail to assist with both maneuvering and stabilization; looking to the robotics literature, previous research primarily focuses on single-mass, pendulum-like tails designed to perform a specific task. The overarching goal of this research is to study how bioinspired tail designs may be used in conjunction with low-complexity leg designs to achieve high-performance behaviors. In pursuit of this goal, this paper connects the serpentine universal-spatial robotic tail (USRT) with a biped consisting of a pair of Robotic Modular Legs to study the outer- and inner-loop control considerations necessary to achieve yaw-angle turning and stable leg lifting. The design and modeling of the tail and leg subsystems are presented, along with considerations for sensing the USRT’s configuration in real-time. In addition, two inner-loop controllers that map desired tail trajectories into actuation commands are presented: a prescribed velocity approach that only utilizes motor feedback, and a prescribed torque approach that incorporates both feedforward consideration of the tail dynamics and feedback consideration from the tail sensing. Two outer-loop controllers—one for yaw-angle steering (maneuvering), and one for roll-angle disturbance rejection when lifting a foot (stabilization)—are also defined. Case studies including simulation and experimental results are used to validate the outer-loop control approaches.