Impulsive torque control of biped gait with power packets
Impulsive torque control of biped gait with power packets
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DOI：
10.1007/s11071-020-05756-7
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发表时间：
2020-06
影响因子：
5.6
通讯作者：
Shiu Mochiyama;T. Hikihara
中科院分区：
文献类型：
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作者：
Shiu Mochiyama;T. Hikihara
基于被动动态步态，已经提出了许多驱动两足步态生成的策略。其中，本研究重点研究了脚尖脱趾时的脉冲刺激。该策略在其实验实施中提供了优势；例如，它不需要一直测量和控制腿的轨迹。然而，目前还没有关于脉冲力矩本身的实际设计的研究。在本文中，我们提出了一种基于功率包调度系统的脉冲驱动方法。功率包是以脉冲形式传输电能的单位，在电压波形中附加信息标签。根据标签，电力包从源传输到负载。在功率打包的基础上，扭矩输入被配置为在实际设置中向电机提供功率包的结果。提出的方案以数字化的方式控制电源，即通过改变步态中提供的功率包的数量来控制电源。通过数值仿真，验证了能量包生成步态的成功。
Many strategies for an actuated biped gait generation have been proposed based on the passive dynamic gait. Among them, this study focuses on an impulsive excitation at the toe-off instance. The strategy offers advantages in its experimental implementation; for example, it is not required to measure and control the trajectory of the legs all the time. However, there has been no study on a realistic design of the impulsive torque itself. In this paper, we propose an impulsive actuation method based on a power packet dispatching system. Power packet is a unit of electric power transfer in a pulse shape with information tags attached in voltage waveforms. According to the tag, power packets are transferred from sources to loads. On the basis of the power packetization, the torque input is configured as a result of a power packet supply to electric motors in a realistic setup. The proposed scheme controls the supply in a digitized way, that is, by changing the number of power packets supplied in a gait step. We confirm the successful gait generation with the power packets through numerical simulations.