Balance Recoverability and Control of Bipedal Walkers With Foot Slip
Balance Recoverability and Control of Bipedal Walkers With Foot Slip
复制标题
足滑双足步行者的平衡恢复性和控制
DOI：
10.1115/1.4053098
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Yi, Jingang
中科院分区：
文献类型：
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作者：
Mihalec, Marko;Trkov, Mitja;Yi, Jingang
低摩擦的脚/地面接触对稳定的双足步行者提出了特别的挑战。站立脚的滑移引入了机器人动力学的复杂性，并且一般的运动稳定性结果不能直接应用。我们放松了步行者的脚和地面之间的非滑动接触的常用假设，并检查双足动力学下的脚滑。使用两个质量的线性倒立摆模型，我们引入了平衡可恢复性的概念，并用它来量化的平衡或跌倒倾向的步行步态。平衡恢复能力也是平衡恢复控制器设计的基础。我们设计了内步或多步恢复控制器来帮助步行者避免跌倒。通过仿真结果验证了控制器的性能，并证明了在存在测量噪声以及脚/地面摩擦条件的变化的鲁棒性。此外，所提出的方法和模型被用来分析从人类步行实验的数据。多主题实验验证和说明平衡可恢复性概念和分析。
Low-friction foot/ground contacts present a particular challenge for stable bipedal walkers. The slippage of the stance foot introduces complexity in robot dynamics and the general locomotion stability results cannot be applied directly. We relax the commonly used assumption of nonslip contact between the walker foot and the ground and examine bipedal dynamics under foot slip. Using a two-mass linear inverted pendulum model, we introduce the concept of balance recoverability and use it to quantify the balanced or fall-prone walking gaits. Balance recoverability also serves as the basis for the design of the balance recovery controller. We design the within- or multi-step recovery controller to assist the walker to avoid fall. The controller performance is validated through simulation results and robustness is demonstrated in the presence of measurement noises as well as variations of foot/ground friction conditions. In addition, the proposed methods and models are used to analyze the data from human walking experiments. The multiple subject experiments validate and illustrate the balance recoverability concept and analyses.