Omnidirectional capture steps for bipedal walking
Omnidirectional capture steps for bipedal walking
复制标题
双足行走的全方位捕捉步骤
DOI：
--
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
Sven Behnke
中科院分区：
文献类型：
--
作者：
M. Missura;Sven Behnke
用两条腿健壮地行走已被证明是类人机器人最困难的挑战之一。两足步行者是天生不稳定的系统，由于其全身动力学的复杂性，很难控制。除了产生步行运动本身的挑战外，还需要使用闭环系统算法来使用脚部放置和其他干扰抑制策略来保持机器人的平衡。在这项工作中，我们提出了一种分层的、全方位的步态控制框架，该框架能够结合步长计时、脚部放置和零力矩策略来对抗强扰动。在该步骤期间的任何时间，扰动都可以从任何方向发生。控制器不仅保持平衡，而且在吸收干扰的同时，跟踪给定的参考运动速度。计时、足迹位置和零力矩的计算基于线性倒立摆模型，并且可以在闭合形式下高效地计算。
Robust walking on two legs has proven to be one of the most difficult challenges of humanoid robotics. Bipedal walkers are inherently unstable systems that are difficult to control due to the complexity of their full-body dynamics. Aside from the challenge of generating a walking motion itself, closed-loop algorithms are required to maintain the balance of the robot using foot placements and other disturbance-rejection strategies. In this work, we propose a hierarchical, omnidirectional gait control framework that is able to counteract strong perturbations using a combination of step-timing, foot-placement, and zero-moment-point strategies. The perturbations can occur from any direction at any time during the step. The controller will not only maintain balance, but also follow a given reference locomotion velocity while absorbing the disturbance. The calculation of the timing, the footstep locations, and the zero moment point is based on the linear inverted pendulum model and can be computed efficiently in closed form.
影响因子：
2.4
作者：
Bauby, CE;Kuo, AD
通讯作者：
Kuo, AD