Standing stabilizability and stepping maneuver in planar bipedalism based on the best COM-ZMP regulator
Standing stabilizability and stepping maneuver in planar bipedalism based on the best COM-ZMP regulator
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DOI：
10.1109/robot.2009.5152284
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发表时间：
2009-05
期刊：
影响因子：
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通讯作者：
T. Sugihara
中科院分区：
文献类型：
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作者：
T. Sugihara
本文的目的是回答（i）如何在某个不变的支撑区域上评估一个镇定控制器的镇定性能，（ii）如何设计在给定的支撑区域上性能最好的稳定镇定器，（iii）如何判断系统是否可以被最好的稳定镇定器镇定而不使当前的支撑区域变形，以及（iv）如果判断为必要，支撑区域应如何变形。为了回答这些问题，定义了稳定站立区域。给出了一个设计最佳稳定器的准则，判断是否需要支撑区域的变形来稳定系统，并根据本文定义的稳定性条件来操纵步进运动。结果表明，最佳稳定器可以通过一个简单的极点配置技术来设计。这个框架统一了站立稳定性和两足步行稳定性，这在传统的研究中已经被单独考虑。讨论了一个近似的平面COM-ZMP模型，其中总质量集中在质心，ZMP的位置作为输入。虽然它是最简单的两足动物动力学模型，但它可以隐藏身体构造的差异并表示宏观动力学。因此，本论文不仅有助于仿生机器人控制器的设计，也有助于生物力学分析。
The goal of this paper is to answer (i) how the stabilization performance of a biped controller can be evaluated on a certain invariant supporting region, (ii) how the standing stabilizer which performs the best on a given supporting region can be designed, (iii) how the system can be judged if it is stabilizable by the best standing stabilizer without deforming the current supporting region, and (iv) how the supporting region should be deformed if it is judged to be necessary. In order to answer these question, the stable standing region is defined. It gives a criterion to design the best standing stabilizer, to judge if the deformation of the supporting region is necessary to stabilize the system, and to maneuver the stepping motion in accordance with the standing stabilizability condition, which is also defined in the paper. It is found that the best standing stabilizer can be designed by a simple pole-assignment technique. This framework unifies the standing stability and the stepping stability of bipedalism, which have been separately considered in conventional studies. The discussion goes on an approximate planar COM-ZMP model, in which the total mass is concentrated at the center of mass, and the position of ZMP is regarded as the input. Though it is the simplest dynamical model of bipeds, it can conceal differences of body constitutions and represent the macroscopic dynamics. Therefore, this paper contributes to not only the biped robot controller design but also the biomechanical analyses.