Outputs of human walking for bipedal robotic controller design
Outputs of human walking for bipedal robotic controller design
复制标题
双足机器人控制器设计的人类步行输出
DOI：
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复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
A. Ames
中科院分区：
文献类型：
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作者：
Shu Jiang;Shawanee Partrick;Huihua Zhao;A. Ames
本文提出了一种确定与人类步行数据相关的输出的方法，该方法可用于设计实现类人机器人步行的控制器。我们考虑人类输出的集合，即根据人类实验数据计算出的运动学函数，满足受人类启发的双足机器人控制构造所需的标准。这些人类输出通过一类特殊的基于时间的函数（称为规范行走函数）以可修改控制器设计的形式进行描述。提出了一个优化问题来确定该控制器的参数，该参数能够最适合人类数据，同时产生稳定的机器人行走。成本函数的最优值被用作确定哪些人类输出导致最“像人类”的机器人行走的度量。通过模拟验证了由此产生的机器人行走的类人特性。
This paper presents a method to determine outputs associated with human walking data that can be used to design controllers that achieve human-like robotic walking. We consider a collection of human outputs, i.e., functions of the kinematics computed from experimental human data, that satisfy criteria necessary for human-inspired bipedal robot control construction. These human outputs are described in a form amendable to controller design through a special class of time based functions - termed canonical walking functions. An optimization problem is presented to determine the parameters of this controller that yields the best fit to the human data that simultaneously produces stable robotic walking. The optimal value of the cost function is used as a metric to determine which human outputs result in the most “human-like” robotic walking. The human-like nature of the resulting robotic walking is verified through simulation.
影响因子：
2.4
作者：
Thelen, DG;Anderson, FC
通讯作者：
Anderson, FC