CoM control for underactuated 2D hopping robots with series-elastic actuation via higher order Partial Feedback Linearization
CoM control for underactuated 2D hopping robots with series-elastic actuation via higher order Partial Feedback Linearization
复制标题
通过高阶部分反馈线性化实现串联弹性驱动的欠驱动 2D 跳跃机器人的 CoM 控制
DOI：
10.1109/cdc.2015.7403452
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Katie Byl
中科院分区：
文献类型：
--
作者：
Pat Terry;Katie Byl
在这项工作中，我们介绍了一种方法，强制执行的立场阶段轨迹的质心（CoM）的一系列弹性驱动的2D跳跃机器人与现实的致动器动态和欠驱动。在早期工作的基础上，我们通过将系统抽象为沿着沿着4阶非对称轨迹移动的单个点质量来生成CoM轨迹，并解析地求解有效地面反作用力矢量，以间接地对身体角加速度执行稳定轨迹，同时保持CoM上的精确弹道起飞条件。通过直接控制的CoM，我们提供的解决方案，占系统的真实的冲击动力学，以准确地调节步幅的长度，并提供一个框架，允许未来的工作在建设的轨迹，以实现所需的结果，如步幅切换，粗糙的地形上的操作，和干扰抑制。我们利用部分反馈线性化（PFL）控制直接对CoM的位置，然而，由于串联弹性驱动和遵守在腿，一个经典的基于加速度的PFL建设是不可能的，因为弹簧力瞬间确定的加速度腿的机器人。因此，我们提出了一种解决方案，构建PFL控制律的四阶导数的CoM位置变量。
In this work we introduce a method for enforcing stance phase trajectories on the center of mass (CoM) for a series-elastic actuated 2D hopping robot with realistic actuator dynamics and underactuation. Building on earlier work, we generate CoM trajectories by abstracting the system to a single point mass moving along a 4th order asymmetric trajectory and analytically solve for the effective ground reaction force vector to indirectly enforce stable trajectories on the body angular acceleration, while maintaining precise ballistic take-off conditions on the CoM. By controlling the CoM directly, we provide solutions that account for the real impact dynamics of the system in order to accurately regulate stride length, and provide a framework that allows for future work in the construction of trajectories to achieve desired results such as stride switching, operation on rough terrain, and disturbance rejection. We utilize Partial Feedback Linearization (PFL) control directly on the CoM position, however due to the series-elastic actuation and compliance in the leg, a classical acceleration-based PFL construction is impossible because of the spring force instantaneously determining the acceleration of the leg of the robot. Therefore we present a solution that constructs PFL control laws about the 4th derivative of the CoM position variables.
影响因子：
2.4
作者：
BLICKHAN, R
通讯作者：
BLICKHAN, R