Hybrid zero dynamics of human biped walking with foot slip
Hybrid zero dynamics of human biped walking with foot slip
复制标题
人类双足行走与脚滑的混合零动力学
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
J. Yi
中科院分区：
文献类型：
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作者：
Kuo Chen;M. Trkov;J. Yi
大多数现有的两足动物动力学模型都是建立在没有脚滑的假设上的。我们放宽了这一假设，提出了双足滑移行走的混合零动力学模型和性质。当脚部打滑时，两足动物混合零动力学(HZD)保留了丰富的功能，如高维以及在打滑和非打滑动力学之间的转换。给出了用于人类行走的HZD的闭合形式，并通过滑移恢复设计讨论了非滑移状态和滑移状态之间的转换。并通过人体行走实验进行了分析和设计。所提出的HZD模型和分析可进一步用于机器人康复和辅助装置的控制系统设计。
Most existing bipedal dynamics models are built on an assumption of no foot slip. We relax such assumption and present hybrid zero dynamics model and properties for bipedal walking with foot slip. When foot slips, the biped hybrid zero dynamics (HZD) preserve rich features such as high dimensionality and transitions between slip and non-slip dynamics. We present the closed-form of the HZD for human walking and discuss the transition between non-slip and slip states through slip recovery design. We illustrate the analysis and design through human walking experiments. The proposed HZD models and analysis can be further used to design control systems for robotic rehabilitation and assistive devices.