Balance equilibrium manifold and control of rider-bikebot systems
Balance equilibrium manifold and control of rider-bikebot systems
复制标题
骑手-自行车机器人系统的平衡流形和控制
DOI：
10.1109/acc.2016.7525239
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
J. Yi
中科院分区：
文献类型：
--
作者：
Pengcheng Wang;J. Yi
机器的姿势平衡控制是人类最重要的运动技能之一。我们提出了一个平衡平衡流形（BEM）的概念，以研究人类骑手如何平衡自行车般的机器人（即，bikebot），同时保持跟踪期望的轨迹。边界元是建立在外部内部可转换（EIC）结构的骑手自行车机器人动力学捕捉骑手自行车系统的平衡性能。我们分析了上半身运动和转向输入的系统的平衡控制任务的贡献。结果表明，转向驱动比上身运动更有效的平衡任务。一个性能指标也被引入到量化的平衡运动技能使用BEM。大量的实验进行验证和演示的分析和建议的平衡技能指标。
Postural balance control of machines is one of the most important human motor skills. We present a balance equilibrium manifold (BEM) concept to study how a human rider balances a bicycle-like robot (i.e., bikebot) while maintaining tracking a desired trajectory. The BEM is built on the external-internal convertible (EIC) structure of the rider-bikebot dynamics to capture the balance properties of the rider-bikebot systems. We analyze the contribution of the upper-body movements and the steering inputs to the task of balance control of the systems. The results reveal that steering actuation is more effective than upper-body movement for balance task. A performance metric is also introduced to quantify the balance motor skills using the BEM. Extensive experiments are conducted to validate and demonstrate the analyses and the proposed balance skill metrics.