Global-Position Tracking Control of a Fully Actuated NAO Bipedal Walking Robot
Global-Position Tracking Control of a Fully Actuated NAO Bipedal Walking Robot
复制标题
全驱动 NAO 双足步行机器人的全球位置跟踪控制
DOI：
--
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Yan Gu
中科院分区：
文献类型：
--
作者：
Yuan Gao;Yan Gu
在特定时间可靠地跟踪各种规划路径的能力（在本文中称为全局位置跟踪能力）对于高度通用的双足机器人行走至关重要。为了证明保证全驱动双足机器人的全局位置跟踪性能，本研究提出了一种基于时间的状态反馈控制策略，该策略基于a）混合、非线性、基于浮动的双足行走动力学的全阶模型，b）时间相关的输入输出线性化，以及c）基于李雅普诺夫的稳定性分析。这项研究还为在双足机器人存在常见硬件限制的情况下将所提出的控制策略应用于步行实验提供了一般指导，这将有助于弥合双足步行控制理论与实验之间的差距。在 NAO 双足机器人上进行了仿真和实验，以证明所提出的行走控制策略的有效性。
The ability to reliably track various planned paths with specific timing, which is termed as the global-position tracking capability in this paper, is essential to highly versatile bipedal robotic walking. To provably guarantee global-position tracking performance for fully actuated bipedal robots, this study proposes a time-dependent state-feedback control strategy based on a) a full-order model of the hybrid, nonlinear, floating-based bipedal walking dynamics, b) time-dependent input-output linearization, and c) Lyapunov-based stability analysis. This study also provides general guidelines for adapting the proposed control strategy to walking experiments in the presence of a common hardware limitation of bipedal robots, which will help to bridge the gap between theory and experiment in bipedal walking control. Simulations and experiments on a NAO bipedal robot were performed to demonstrate the effectiveness of the proposed walking control strategy.
具有接触约束的计算稳健且高效的优先全身控制器
DOI：
10.1109/iros.2018.8593767
发表时间：
2018
期刊：
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
影响因子：
--
作者：
Kim, D.;Lee, J.;Ahn, J.;Campbell, O.;Hwang, H.;Sentis, L.
通讯作者：
Sentis, L.