Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts
Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts
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DOI：
10.1177/0278364903022003004
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发表时间：
2003-03-01
影响因子：
9.2
通讯作者：
Cohen, AH
中科院分区：
文献类型：
--
作者：
Fukuoka, Y;Kimura, H;Cohen, AH
我们一直在尝试基于生物学概念诱导四足机器人在不规则地形上以中等速度行走。我们提出了稳定动态行走的必要条件。在一般不规则地形上，我们通过将生物学概念与物理术语描述的必要条件进行比较来设计机械系统和神经系统。关节处的 PD 控制器可以构建虚拟弹簧阻尼系统作为肌肉的粘弹性模型。神经系统模型由中央模式生成器（CPG）和反射组成。 CPG 接收感觉输入并改变其自身活动阶段的周期。虚拟弹簧阻尼系统中每个关节的所需角度和 P 增益根据 CPG 的相位信号进行切换。 CPGs中，每条腿的虚拟弹簧阻尼系统的运动和身体的滚动运动通过滚动运动反馈给CPGs相互带动，可以产生自适应行走。我们报告了在中等不规则地形上动态行走的实验结果，以验证所设计的神经机械系统的有效性。我们指出了在确定不规则地形上行走的循环周期时稳定性和能量消耗之间的权衡问题，并给出了一个解决这个问题的例子。这些实验的 MPEG 片段可以在 http://www.kimura.is.uec.ac.jp 上看到。
We have been trying to induce a quadruped robot to walk with medium walking speed on irregular terrain based on biological concepts. We propose the necessary conditions for stable dynamic walking. on irregular terrain in general, and we design the mechanical system and the neural system by comparing biological concepts with those necessary conditions described in physical terms. A PD controller at the joints can construct the virtual spring-damper system as the visco-elasticity model of a muscle. The neural system model consists of a central pattern generator (CPG) and reflexes. A CPG receives sensory input and changes the period of its own active phase. The desired angle and P-gain of each joint in the virtual spring-damper system is switched based on the phase signal of the CPG. CPGs, the motion of the virtual spring-damper system of each leg and the rolling motion of the body are mutually entrained through the rolling motion feedback to CPGs, and can generate adaptive walking. We report on our experimental results of dynamic walking on terrains of medium degrees of irregularity in order to verify the effectiveness of the designed neuro-mechanical system. We point out the trade-off problem between the stability and the energy consumption in determining the cyclic period of walking on irregular terrain, and we show one example to solve this problem. MPEG footage of these experiments can be seen at http://www.kimura.is.uec.ac.jp.