Robotic tasks with intermittent dynamics
Robotic tasks with intermittent dynamics
复制标题
具有间歇动态的机器人任务
DOI：
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发表时间：
1990
期刊：
影响因子：
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通讯作者：
M. Buehler
中科院分区：
文献类型：
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作者：
D. Koditschek;M. Buehler
该论文涉及间歇性动态机器人任务的建模，分析和综合。主要重点是机器人杂耍的任务领域，它的灵感来自Raibert在动态稳定的腿部运动中的成功。我对他优雅的控制策略的正式分析证明，当他的单腿跳舞机器人的简化版本实施时，这是正确的。这一结果和我随后的工作利用了周期性间歇性动力学任务的特定属性，从而允许模型和任务编码配方，这些配方具有简约，表现力且适合分析。一个纯粹基于反馈的控制法的新家族“镜像算法”构成了所有杂耍实施的基础。局部线性分析建立了镜像算法的正确性，用于控制一个对象的杂耍任务。该分析预测有效性领域的内在能力促进了新的分析工具的开发，这些工具从非线性动力学系统理论中的最新结果得出。它们缩小了理论与实践之间的差距，并可以对包括Raibert的Hopper和一个简单的杂耍者在内的大量离散地图进行强有力的全球预测。为了实施，构建了一个针对通用机器人应用程序量身定制的新型杂耍装置和新的相关分布式控制计算机。实验数据验证了模型，并显示了与分析预测的令人满意的对应关系。涉及间歇性动态机器人任务的洞察力导致了机器人杂耍和捕捉的首次成功实施。从这项工作中得出的概括也将适用于其他间歇性动态任务。
This thesis concerns the modeling, analysis, and synthesis of intermittent dynamical robotic tasks. The chief focus is the task domain of robot juggling, which was inspired by the success of Raibert's work in dynamically stable legged locomotion. My formal analysis of his elegant control strategy proves it to be correct when implemented on a simplified version of his one-legged hopping robot. This result and my subsequent work exploits the specific properties of periodic intermittent dynamical tasks, allowing for model and task encoding formulations which are parsimonious, expressive and suitable for analysis. A new family of purely feedback-based control laws--"mirror algorithms"--forms the basis of all juggling implementations. Local linear analysis establishes the correctness of the mirror algorithms for controlling a juggling task with one object. The intrinsic inability of this analysis to predict the domain of validity motivated the development of new analytical tools which derived from recent results in nonlinear dynamical systems theory. They narrow the gap between theory and practice and permit strong global predictions for a large class of discrete maps, including Raibert's hopper and a simple juggler. For implementation purposes, a planar juggling apparatus and a new associated distributed control computer tailored for general robotics applications was constructed. Experimental data validates the models and shows gratifying correspondence to the analytical predictions. The insight gained into intermittent dynamical robotic tasks led to the first successful implementation of a robot juggling and catching. Generalizations derived from this work promise to be applicable to other intermittent dynamical tasks as well.