Global-Position Tracking Control for Three-Dimensional Bipedal Robots Via Virtual Constraint Design and Multiple Lyapunov Analysis
Global-Position Tracking Control for Three-Dimensional Bipedal Robots Via Virtual Constraint Design and Multiple Lyapunov Analysis
复制标题
通过虚拟约束设计和多重李亚普诺夫分析的三维双足机器人的全局位置跟踪控制
DOI：
10.1115/1.4054732
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Lee, C. S.
中科院分区：
文献类型：
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作者：
Gu, Yan;Gao, Yuan;Yao, Bin;Lee, C. S.
腿式运动性能的安全关键指标是机器人在环境中跟踪其期望的时变位置轨迹的能力，这在这里被称为“全局位置跟踪”。介绍了一种实现三维双足机器人渐近全局位置跟踪的非线性控制方法。由于混合机器人模型复杂且期望全局位置轨迹时变，因此全局位置跟踪控制器的设计具有挑战性。针对这一问题，第一个主要贡献是构建了碰撞不变性，以确保所有期望轨迹都尊重足部着地的碰撞动力学，这是实现混合步行系统渐近跟踪的必要条件。由于这些条件与期望的全局位置无关，因此可以利用这些条件将全局位置的高级规划与剩余轨迹的低级规划解耦，从而大大减轻运动规划的计算负担。第二个主要贡献是基于lyapunov的混合闭环系统稳定性分析，该分析为指导控制器设计在全驱动行走时实现渐近全局位置跟踪提供了充分条件。对具有20个转动关节的三维双足机器人进行了仿真和实验，验证了所提出的控制方法在保证精确跟踪方面的有效性。
A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as “global-position tracking.” This paper introduces a nonlinear control approach that achieves asymptotic global-position tracking for three-dimensional (3D) bipedal robots. Designing a global-position tracking controller presents a challenging problem due to the complex hybrid robot model and the time-varying desired global-position trajectory. Toward tackling this problem, the first main contribution is the construction of impact invariance to ensure all desired trajectories respect the foot-landing impact dynamics, which is a necessary condition for realizing asymptotic tracking of hybrid walking systems. Thanks to their independence of the desired global position, these conditions can be exploited to decouple the higher-level planning of the global position and the lower-level planning of the remaining trajectories, thereby greatly alleviating the computational burden of motion planning. The second main contribution is the Lyapunov-based stability analysis of the hybrid closed-loop system, which produces sufficient conditions to guide the controller design for achieving asymptotic global-position tracking during fully actuated walking. Simulations and experiments on a 3D bipedal robot with twenty revolute joints confirm the validity of the proposed control approach in guaranteeing accurate tracking.