Control strategy for stabilization of the biped trunk-SLIP walking model
Control strategy for stabilization of the biped trunk-SLIP walking model
复制标题
双足躯干-SLIP行走模型稳定控制策略
DOI：
10.1109/urai.2017.7992875
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Yonghwan Oh
中科院分区：
文献类型：
--
作者：
Minh Nhat Vu;Jongwoo Lee;Yonghwan Oh
针对由弹性腿和刚性躯干组成的两足躯干弹簧加载倒立摆（BTSLIP）模型，提出了一种新的控制策略。我们的行走控制器的灵感来自于虚拟钟摆（VP）概念。在这个概念中，通过将地面反作用力（GRF）与虚拟枢轴点（VPP）相交，为主干提供恢复力矩，以保持其平衡，并表现得像一个虚拟的悬挂摆。提出了一种简单的髋部转矩控制方法，称为VPP方法。然而，这种方法在抑制干扰方面并不可靠。因此，我们提出了一种新的控制策略来实现步行步态的鲁棒性和稳定性。本文提出了两种控制策略的结合：1)利用离散线性二次调节器控制器更新VPP的位置；2)利用反馈线性化控制器控制弹性腿的刚度，以跟踪参考垂直位置和质心速度。本文给出了外部扰动下BTSLIP模型的动态仿真。与VPP方法相比，所提出的控制策略具有稳定、鲁棒的行走性能。
In this paper, we present a new control strategy for the Bipedal Trunk Spring Loaded Inverted Pendulum (BTSLIP) model, consisting of springy legs and rigid trunk. Our walking controller is inspired from the Virtual Pendulum (VP) concept. In this concept, by intersecting the ground reaction forces (GRF) to a virtual pivot point (VPP), the trunk is provided the restoring moment to keep its balance and to behave like a virtual hanging pendulum. The simple hip torque control was presented with the name the VPP method. However, this approach is not reliable in terms of rejecting disturbances. Thus, we propose a new control strategy to achieve the robustness and stabilize the walking gait. Herein, the control is introduced with the combination of two strategies, 1) updating the position of the VPP by using Discrete Linear Quadratic Regulator controller and 2) controlling the stiffness of springy legs by feedback linearization controller to track both reference vertical position and velocity of the Center of Mass (CoM). We present the dynamic simulation of the BTSLIP model under the presence of external disturbances. The performance of the proposed control strategy shows stable, robust walking which is compared with the VPP method.
影响因子：
2.4
作者：
BLICKHAN, R
通讯作者：
BLICKHAN, R