Hybrid System Identification via Switched System Optimal Control for Bipedal Robotic Walking
Hybrid System Identification via Switched System Optimal Control for Bipedal Robotic Walking
复制标题
通过切换系统优化控制双足机器人行走的混合系统识别
DOI：
10.1007/978-3-319-29363-9_36
复制
发表时间：
2011
期刊：
影响因子：
11.1
通讯作者：
Ram Vasudevan
中科院分区：
文献类型：
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作者：
Ram Vasudevan
虽然迄今为止机器人双足行走的目标一直是拟人化步态的发展，但整个社会一直无法就产生这种步态的适当模型达成一致。在本文中，我们描述了一种方法来分割人类步行数据，以产生一个机器人模型能够像人一样行走。生成的模型需要确定的接触点的执行，这需要解决一个组合调度问题的顺序。我们解决这个问题，通过转换成一个约束切换系统的最优控制问题，我们开发了一个可证明收敛的算法检测接触点的强制。最后，我们通过说明该算法的性能，确定机器人双足步行模型的文件。
While the goal of robotic bipedal walking to date has been the development of anthropomorphic gait, the community as a whole has been unable to agree upon an appropriate model to generate such gait. In this paper, we describe a method to segment human walking data in order to generate a robotic model capable of human-like walking. Generating the model requires the determination of the sequence of contact point enforcements which requires solving a combinatorial scheduling problem. We resolve this problem by transforming the detection of contact point enforcements into a constrained switched system optimal control problem for which we develop a provably convergent algorithm. We conclude the paper by illustrating the performance of the algorithm on identifying a model for robotic bipedal walking.