Impulsive Torque Control of Biped Gait With Spiking-Oscillator-Controlled Power Packet Dispatching System
Impulsive Torque Control of Biped Gait With Spiking-Oscillator-Controlled Power Packet Dispatching System
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DOI：
10.1109/isie45552.2021.9576470
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发表时间：
2021-06
期刊：
影响因子：
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通讯作者：
Shiu Mochiyama;T. Hikihara
中科院分区：
文献类型：
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作者：
Shiu Mochiyama;T. Hikihara
提出了一种基于脉冲驱动的两足机器人步态控制方法。为此，我们提出了一种基于功率和信息集成处理的新方法。即用于作动控制的电力同时也承担了生成步态模式的信息处理作用。这是通过两个概念的结合来实现的：功率分组和带尖峰振荡器的模式生成。利用两者的脉冲特性，建立了一种由尖峰振荡器控制的配电系统。通过实例仿真验证了该方法的有效性。
This paper presents a biped gait control method based on impulsive actuation. For this purpose, we propose a novel approach based on integrated processing of power and information. That is, electric power used for actuation control also takes the role of information processing for gait pattern generation. This is realized by a combination of two concepts: power packetization and pattern generation with spiking oscillators. Exploiting the impulsive nature of the two, we establish an electrical power distribution system controlled by spiking oscillator. Numerical simulation with an example setup demonstrates a successful gait generation.