Control strategy for gait transition of an underactuated 3D bipedal robot
Control strategy for gait transition of an underactuated 3D bipedal robot
复制标题
DOI：
10.1631/fitee.1800206
复制
发表时间：
2019-08
影响因子：
3
通讯作者：
Haihui Yuan;Yimin Ge;C. Gan
中科院分区：
文献类型：
--
作者：
Haihui Yuan;Yimin Ge;C. Gan
由于双足机器人具有广泛的应用前景，近年来双足机器人的研究引起了人们的极大兴趣。在现实中，双足机器人往往需要执行步态转换，以实现灵活的步行。针对五连杆欠驱动三维双足机器人的步态过渡问题，提出了一种两层控制策略。该策略包括一个独特的，基于事件的，反馈控制器的反馈增益在每一步的自适应控制律更新，和一个过渡控制器，引导机器人从当前步态的目标步态的一个相邻点，使状态轨迹可以顺利收敛到目标步态。与以往的工作相比，过渡控制器参数化，其控制参数是通过求解一个优化问题，以确保在过渡过程中的物理约束。最后，以欠驱动三维双足机器人为例说明了该控制策略的有效性。
Significant research interest has recently been attracted to the study of bipedal robots due to the wide variety of their potential applications. In reality, bipedal robots are often required to perform gait transitions to achieve flexible walking. In this paper, we consider the gait transition of a five-link underactuated three-dimensional (3D) bipedal robot, and propose a two-layer control strategy. The strategy consists of a unique, event-based, feedback controller whose feedback gain in each step is updated by an adaptive control law, and a transition controller that guides the robot from the current gait to a neighboring point of the target gait so that the state trajectory can smoothly converge to the target gait. Compared with previous works, the transition controller is parameterized and its control parameters are obtained by solving an optimization problem to guarantee the physical constraints in the transition process. Finally, the effectiveness of the control strategy is illustrated on the underactuated 3D bipedal robot.