Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control
Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control
复制标题
通过基于 CLF-QP 的主动力控制的动态人形步行降阶模型优化进行运动解耦和合成
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
A. Ames
中科院分区：
文献类型：
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作者：
Xiaobin Xiong;A. Ames
在本文中，三维人形步行解耦为周期性和过渡运动，其中每一个被解耦为在矢状面和侧平面的平面行走。降阶模型（ROM），即致动弹簧加载倒立摆（aSLIP）模型和混合线性倒立摆（H-LIP）模型，用于针对每种类型的平面运动在期望的质心（COM）动力学上产生运动。周期性运动是通过点脚（欠驱动）ROM计划的动态运动与最小的脚踝驱动，而过渡运动是通过脚驱动ROM计划的快速和平滑的过渡。组合的平面COM动力学产生所需的COM动力学在3D中，这是通过控制基于李雅普诺夫函数的二次规划（CLF-QP）嵌入在人形。此外，aSLIP行走的地面反作用力曲线用作CLF-QP中的地面接触力的期望参考，以实现平滑的域过渡。所提出的框架是在仿真中实现的下肢外骨骼，其中实现了不同的步行运动。
In this paper, 3D humanoid walking is decoupled into periodic and transitional motion, each of which is decoupled into planar walking in the sagittal and lateral plane. Reduced order models (ROMs), i.e. actuated Spring-loaded Inverted Pendulum (aSLIP) models and Hybrid-Linear Inverted Pendulum (H-LIP) models, are utilized for motion generation on the desired center of mass (COM) dynamics for each type of planar motion. The periodic motion is planned via point foot (underactuated) ROMs for dynamic motion with minimum ankle actuation, while the transitional motion is planned via foot-actuated ROMs for fast and smooth transition. Composition of the planar COM dynamics yields the desired COM dynamics in 3D, which is embedded on the humanoid via control Lyapunov function based Quadratic programs (CLF-QPs). Additionally, the ground reaction force profiles of the aSLIP walking are used as desired references for ground contact forces in the CLF-QPs for smooth domain transitions. The proposed framework is realized on a lower-limb exoskeleton in simulation wherein different walking motions are achieved.