Control of a one-legged robot with energy savings
Control of a one-legged robot with energy savings
复制标题
一种节能的单足机器人控制
DOI：
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发表时间：
2001
期刊：
影响因子：
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通讯作者：
C. Valente
中科院分区：
文献类型：
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作者：
A. Schammass;G. Caurin;C. Valente
本文提出了一种新的单腿机器人控制策略，以降低系统的能量消耗。为了验证该算法的有效性，以经典方法为基准。该方法已在文献中通过模拟和实验原型得到了广泛的验证。为简单起见，由于简单的原因，工作仅限于二维情况。在系统的性能和能量消耗方面，将这种新方法与经典方法进行了比较。该模型由一个有弹性的腿，一个简单的身体和一个驱动的铰链式髋关节组成。该控制策略由三个部分组成，分别考虑跳跃高度、前进速度和身体方向。该方法利用系统的被动动力学，定义为系统的非强迫响应。在这种情况下，模型被修改，在臀部添加一个弹簧。该方法定义了一个理想的腿轨迹接近被动髋关节摆动运动。对两种方法的仿真结果进行了分析和比较。
This paper presents a new strategy to control an one-legged robot aiming to reduce the energy expended by the system. To validate this algorithm, a classic method as benchmark was used. This method has been extensively validated by simulations and experimental prototypes in the literature. For simplicity reasons, the work is restricted to the two dimensional case due to simplicity reasons. This new method is compared to the classic one with respect to performance and energy expended by the system. The model consists on a springy leg, a simple body, and an actuated hinge-type hip. The new control strategy is composed of three parts, considering the hopping height, the forward speed, and the body orientation separately. The method exploits the system passive dynamics, defined as non-forced response of the system. In this case, the model is modified adding a spring to the hip. The method defines a desired leg trajectory close to the passive hip swing movement. Simulation results for both methods are analyzed and compared.