Switching policies for metastable walking
Switching policies for metastable walking
复制标题
亚稳态行走的切换策略
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
Katie Byl
中科院分区：
文献类型：
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作者：
Cenk Oguz Saglam;Katie Byl
在本文中，我们研究了在随机崎岖地形上行走的欠驱动五连杆两足动物。我们提出了一种简单而强大的滑模控制方案。通过获取碰撞前的庞加莱́切片，我们准确地将亚稳态行走的十维系统动力学表示为马尔可夫过程。通过在两个性质不同的控制器之间切换，我们表明，与仅使用其中一个控制器相比，故障前的步数可以增加1000万倍以上。要实现这一点，只需要在几何粗糙的地形上一步向前看的当前状态和近似地形坡度。本文的分析技术也是为将来应用于其他一系列模拟或实验步行器而设计的。
In this paper, we study an underactuated five-link biped walking on stochastically rough terrain. We propose a simple and powerful Sliding Mode Control scheme. By taking Poincaré sections just before the impact, we accurately represent ten dimensional system dynamics of metastable walking as a Markov process. By switching between two qualitatively different controllers, we show that the number of steps before failure can be increased by more than 10 million times compared to using either one of the controllers only. To achieve this, only the current state and approximate terrain slope for a one step lookahead on geometrically rough terrain is needed. The analysis techniques in this paper are also designed for future application to a range of other simulated or experimental walkers.