Locomotion control of a biped robot using nonlinear oscillators
Locomotion control of a biped robot using nonlinear oscillators
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DOI：
10.1007/s10514-005-4051-1
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发表时间：
2005-12-01
影响因子：
3.5
通讯作者：
Tsuchiya, K
中科院分区：
文献类型：
--
作者：
Aoi, S;Tsuchiya, K
近年来，许多实验和分析已经进行了机器人。仿人机器人的稳态行走意味着机器人状态空间存在一个稳定的极限环。在运动控制系统的设计中，主要有三个问题与实现这种稳定的极限环相关：每个肢体的运动设计，肢体间协调和姿势控制。除了这些问题之外，当环境条件改变或干扰被添加到机器人时，存在获得鲁棒行走的附加问题。在本文中，我们试图解决这些问题，并提出了一个运动控制系统的机器人实现鲁棒行走的机器人使用非线性振荡器，其中每个都有一个稳定的极限环。利用振子的相位设计各肢体关节的标称轨迹，利用振子之间的相位关系设计肢体间的协调。振荡器的相位被重置，并且使用依赖于机器人的姿势和运动的感觉反馈来修改标称轨迹，以实现稳定和鲁棒的行走。我们验证了所提出的运动控制系统的有效性，通过数值仿真和硬件实验分析的步行运动的动态特性。
Recently, many experiments and analyses with biped robots have been carried out. Steady walking of a biped robot implies a stable limit cycle in the state space of the robot. In the design of a locomotion control system, there are primarily three problems associated with achieving such a stable limit cycle: the design of the motion of each limb, interlimb coordination, and posture control. In addition to these problems, when environmental conditions change or disturbances are added to the robot, there is the added problem of obtaining robust walking against them. In this paper we attempt to solve these problems and propose a locomotion control system for a biped robot to achieve robust walking by the robot using nonlinear oscillators, each of which has a stable limit cycle. The nominal trajectories of each limb's joints are designed by the phases of the oscillators, and the interlimb coordination is designed by the phase relation between the oscillators. The phases of the oscillators are reset and the nominal trajectories are modified using sensory feedbacks that depend on the posture and motion of the robot to achieve stable and robust walking. We verify the effectiveness of the proposed locomotion control system, analyzing the dynamic properties of the walking motion by numerical simulations and hardware experiments.