Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control
Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control
复制标题
通过基于多目标二次程序的控制将 SLIP 动力学嵌入欠驱动双足机器人
DOI：
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发表时间：
2014
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：
Ayonga Hereid;Matthew J. Powell;A. Ames
提出了一种在欠驱动步行机器人上嵌入弹簧加载倒立摆(滑)动力学实现单支撑和双支撑周期稳定行走的方法。从滑移模型出发，将动力学稳定到一个恒定的能级，并找到周期性的步行步态；力矩等式约束可以用来塑造全阶机器人的动力学，使其服从相应的滑移动力学。为了将这些步态转换为全阶机器人，利用滑步步态的基本元素，即摆动腿着地角度，来综合控制导致力矩不等约束的Lyapunov函数。最后，利用滑移动力学所指示的与环境的期望作用力相互作用来获得反力中的不等约束。将这些等式和不等式约束相结合，得到了一种基于多目标二次规划的控制器，该控制器在欠驱动两足机器人的多域混合系统模型上实现。最终的结果是在全阶模型上稳定的周期行走，该模型与推导该模型的滑步步态具有显着的相似性。
This paper presents a method for achieving stable periodic walking, consisting of phases of single and double support, on underactuated walking robots by embedding Spring Loaded Inverted Pendulum (SLIP) dynamics. Beginning with a SLIP model, the dynamics are stabilized to a constant energy level and periodic walking gaits are found; an equality constraint on torque can be used to shape the dynamics of the full-order robot to obey the corresponding SLIP dynamics. To transition these gaits to full-order robots, the essential elements of SLIP walking gaits, i.e., the swing leg touchdown angle, are utilized to synthesis control Lyapunov functions that result in inequality constraints in torque. Finally, the desired force interactions with the environment as dictated by SLIP dynamics are utilized to obtain inequality constraints in the reaction forces. Combining these equality and inequality constraints results in a multi-objective quadratic program based controller that is implemented on a multi-domain hybrid system model of an underactuated bipedal robot. The end result is stable periodic walking on the full-order model that shows remarkable similarity to the SLIP gait from which it was derived.
影响因子：
2.4
作者：
BLICKHAN, R
通讯作者：
BLICKHAN, R