Impact dynamics-based torso control for dynamic walking biped robots
Impact dynamics-based torso control for dynamic walking biped robots
复制标题
基于冲击动力学的动态步行双足机器人躯干控制
DOI：
10.1142/s0219843618500044
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发表时间：
--
影响因子：
1.5
通讯作者：
Chi Zhu
中科院分区：
文献类型：
--
作者：
Xiang Luo;Dan Xia;Chi Zhu
本文提出了一种用于仿人机器人动态步行的躯干控制方法。具体而言，我们希望通过规划和控制躯干在着陆时的方向，以节省能源和提高步行稳定性。首先，腿交换的影响过程，制定使用简化模型。在此基础上，研究了落地时躯干朝向对步行性能的影响。其次，提出了一种欠驱动的躯干姿态控制方法，用于调节单支撑阶段（SSP）的躯干姿态。第三，将躯干控制模块集成到先前建立的三维仿人步行控制框架中，实现三维仿人机器人的控制目标。仿真结果验证了所提方法的可行性，并探讨了躯干着陆姿态对速度、稳定性和能量消耗的影响。
This paper presents a control method of the torso for dynamic walking of biped robots. Specifically, we want to save the energy and improve the walking stability by the planning and control of torso orientation at landing. First, the impact process of leg exchange is formulated using a simplified model. Base on this, the influence of the torso orientation at landing on walking performance is investigated. Second, a control method of torso orientation, which is an under actuated control, is proposed to regulate the torso orientation in the single support phase (SSP). Third, the control module of the torso is integrated into the previously established control frame of 3D biped walking to implement the control objective of a 3D humanoid robot. The results of a number of simulations show the feasibility of the proposed method, and also explore the relations between the speed, stability and energy consumption with the landing orientation of the torso.