No need for a body model: Positive velocity feedback for the control of an 18-DOF robot walker
No need for a body model: Positive velocity feedback for the control of an 18-DOF robot walker
复制标题
无需身体模型：用于控制 18 自由度机器人步行器的正速度反馈
DOI：
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
H. Cruse
中科院分区：
文献类型：
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作者：
J. Schmitz;A. Schneider;M. Schilling;H. Cruse
在多足步行机器人中，多条腿通常与地面接触，从而形成一个封闭的运动链。这种系统的控制通常被认为需要对身体运动学进行显式计算。这样的计算需要有关所有相关关节角度以及管段长度的知识。在这里，我们提出了一个受生物启发的解决方案，它不需要这样的身体模型。这是通过使用隐式通信通过身体力学的体现和局部正速度反馈策略LPVF在单关节水平上完成的。在该控制方案中，弹性关节的局部测量的关节速度在下一时间步期间被馈送到相同的关节以保持运动。同时，该关节控制器的附加部分对机械关节的功率进行观测，以限制正反馈。该解决方案不依赖于几何形状的改变，例如单个线段的长度，并且允许曲线协商的简单解决方案。这一原理在六条腿的步行者上进行了动力学模拟，并首次在真实机器人上进行了测试。
In a multilegged walking robot several legs usually have ground contact and thereby form a closed kinematic chain. The control of such a system is generally assumed to require the explicit calculation of the body kinematics. Such a computation requires knowledge concerning all relevant joint angles as well as the segment lengths. Here, we propose a biologically inspired solution that does not need such a body model. This is done by using implicit communication through the body mechanics embodiment and a local positive velocity feedback strategy LPVF on the single joint level. In this control scheme the locally measured joint velocity of an elastic joint is fed into the same joint during the next time step to maintain the movement. At the same time, an additional part of this joint controller observes the mechanical joint power to confine the positive feedback. This solution does not depend on changes of the geometry, e.g. length of individual segments, and allows for a simple solution of negotiation of curves. The principle is tested in a dynamics simulation on a six-legged walker and, for the first time, also on a real robot.