Virtual gravity and coupling control for robotic gait synthesis
Virtual gravity and coupling control for robotic gait synthesis
复制标题
用于机器人步态合成的虚拟重力和耦合控制
DOI：
10.1109/3468.983431
复制
发表时间：
2001
期刊：
影响因子：
--
通讯作者：
M. Yamakita
中科院分区：
文献类型：
--
作者：
F. Asano;M. Yamakita
在之前的工作中，我们提出了基于虚拟重力的双足机器人“虚拟被动动态行走”，目的是在没有预先设计步态的情况下，实现双足机器人在平地上的主动行走。本文讨论了双膝机器人的控制问题，提出了“改进的类罗盘虚拟被动动态行走”的主动锁膝算法，以避免单支撑阶段的“磨脚”问题。在此基础上，提出了一种虚拟耦合控制律，该律可以实现机器人相对于能量水平的可变行走模式。在控制律的作用下，作为混合动力系统的机器人可以看作是一个不包含任何碰撞的被动系统，可以在不丧失虚拟被动行走特性的情况下实现可变行走模式。数值模拟验证了所提方法的有效性。
In our previous works, we have proposed "virtual passive dynamic walking" with virtual gravity for biped robots in order to realize active walking on level ground without any gait design in advance. In this paper, we discuss some control problems of a kneed biped robot and propose "modified compass-like virtual passive dynamic walking" with active knee-lock algorithms in order to avoid the "foot scuffing" problem during the single support phase. Furthermore, a virtual coupling control law is proposed which can realize a variable walking pattern with respect to the robot's energy levels. By the effect of the control law, the robot, which is a hybrid dynamical system, can be regarded as a passive system which does not include any collisions, and a variable walking pattern can be realized without loss of the properties of a virtual passive walk. The validity of the proposed methods has been examined by numerical simulations.
影响因子：
9.2
作者：
MCGEER, T
通讯作者：
MCGEER, T