Controlling Velocity In Bipedal Walking: A Dynamic Programming Approach
Controlling Velocity In Bipedal Walking: A Dynamic Programming Approach
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控制双足行走的速度：动态规划方法
DOI：
10.1109/ichr.2006.321373
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
C. Atkeson
中科院分区：
文献类型：
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作者：
Thijs Mandersloot;M. Wisse;C. Atkeson
我们感兴趣的是在被动动态步行机上增加驱动，使他们能够控制自己的速度。我们通过使用动态规划来设计控制律，为每个期望的速度控制速度。我们考虑三种情况：模拟平面罗盘步态步行者、具有滚动动力学的模拟3D罗盘步态步行者和具有躯干的模拟平面罗盘步态步行者。每个步行者都有无质量的腿。这些动作包括脚的放置、踝关节扭矩和期望的躯干方向。我们使用庞加莱截面来定义模型的状态，因此每个足迹选择一次新动作。优化标准基于摆动肢体、施加扭矩和保持期望速度的努力。通过在不同的期望速度下生成控制律，然后选择适当的控制律，我们能够控制这些步行机中的每一个的速度，并在不同的速度之间平滑地过渡。我们的研究结果还表明如何复杂的非线性控制律可以近似增益调度线性控制律。
We are interested in adding actuation to passive dynamic walkers to enable them to control their velocity. We control velocity by using dynamic programming to design control laws for each desired velocity. We consider three cases: a simulated planar compass gait walker, a simulated 3D compass gait walker with roll dynamics, and a simulated planar compass gait walker with a torso. Each of the walkers have massless legs. The actions include foot placement, ankle torque, and desired torso orientation. We use Poincare sections to define the state of the model, and thus choose a new action once per footstep. The optimization criterion is based on the effort of swinging the limbs, applying torques, and maintaining the desired velocity. By generating control laws at different desired velocities and then selecting the appropriate control law we are able to control velocity in each of these walkers, and smoothly transition between different velocities. Our results also indicate how complex nonlinear control laws can be approximated by gain-scheduled linear control laws.