Hybrid Zero Dynamics of Bipedal Robots Under Nonholonomic Virtual Constraints
Hybrid Zero Dynamics of Bipedal Robots Under Nonholonomic Virtual Constraints
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DOI：
10.1109/lcsys.2018.2888571
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发表时间：
2019-04-01
影响因子：
3
通讯作者：
Gregg, Robert D.
中科院分区：
文献类型：
--
作者：
Horn, Jonathan C.;Mohammadi, Alireza;Gregg, Robert D.
这封信研究了平面双足机器人的混合零动力学与一个程度的欠驱动受到非完整虚拟约束（NHVC）。我们首先推导出NHVC下双足机器人零动力学的封闭表达式。接下来，我们提出的条件，使NHVC不变的刚性与地面的影响。最后，降维测试，这是独立的自由度的双足机器人的数量，提出了检查下NHVC混合周期轨道的存在性和指数稳定性。使用RABBIT机器人的仿真结果表明，所提出的NHVC对随机水平推力干扰的鲁棒性。一个统计上的显着差异的平均步骤数，直到失败之间的NHVC和虚拟完整约束控制方案。
This letter investigates the hybrid zero dynamics for planar bipedal robots with one degree of underactuation subject to nonholonomic virtual constraints (NHVCs). We first derive the closed-form expression of the bipedal robot zero dynamics under NHVCs. We next present conditions that make the NHVCs invariant with respect to rigid impacts with the ground. Lastly, a reduced dimensionality test, which is independent of the number of degrees of freedom of the bipedal robot, is proposed for checking existence and exponential stability of hybrid periodic orbits under NHVCs. Simulation results using the RABBIT biped robot demonstrate the robustness of the proposed NHVCs against a randomized horizontal push disturbance. A statistical significant difference between the mean number of steps until failure is shown between the NHVC and virtual holonomic constraint control schemes.