Lazy VS-control strategy for passive walking
Lazy VS-control strategy for passive walking
复制标题
被动行走的懒惰VS控制策略
DOI：
10.1109/cdc.2001.981085
复制
发表时间：
2001
期刊：
影响因子：
--
通讯作者：
S. Hatakeyama
中科院分区：
文献类型：
--
作者：
Satoshi Suzuki;K. Furuta;Yaodong Pan;S. Hatakeyama
提出了一种新的控制策略——“延迟控制”。这个概念起源于滑动扇形变结构系统（SS-VSS）。在SS-VSS系统中，由指定的变结构输入（VS-input）规律将状态带入一个稳定区域，该区域称为“滑动扇区”，进入该扇区后系统以零输入稳定。本文将该方案应用于被动步行的主动控制。被动行走运动在小坡度斜坡上自主产生，不需要外力，只需要一个势能。极限环是局部稳定的，但稳定区域很窄。研究表明，懒惰控制通过对系统的最小关注来增强系统的稳定性，即只要自身稳定性有效，无需外部输入，步行者就可以自行行走，只有当步行者可能无法自行行走时，懒惰控制才能帮助其恢复稳定运动。通过仿真验证了该方法的有效性。
New control strategy called 'lazy control' is proposed. This concept has its origin in Sliding-Sector Variable Structure Systems (SS-VSS). In SS-VSS system, the state is carried by specified variable-structure input (VS-input) law to a stable region which is called a 'sliding sector', and after reaching into the sector the system is stabilized with zero-input. In this paper we apply this scheme to active control of passive walking. Passive walking motion emerges autonomously on slight incline slope, and don't need external power except a potential-energy. The limit cycle is stable locally, but the stable region is narrow. It is shown that lazy control enhances the stability by minimum attention to the system, i.e. the walker can walk by itself as long as the own stability is valid without external input, and is helped to recover the stable motion only when the walker might not be able to walk by itself. The effectiveness is demonstrated by simulation.
影响因子：
9.2
作者：
MCGEER, T
通讯作者：
MCGEER, T