On the control of gait transitions in quadrupedal running
On the control of gait transitions in quadrupedal running
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四足行走中步态转换的控制研究
DOI：
10.1109/iros.2015.7354100
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
I. Poulakakis
中科院分区：
文献类型：
--
作者：
Qu Cao;Anthom T. van Rijn;I. Poulakakis
本文探讨了使用矢状面降阶模型的四足跑步，其中有顺应性的元素在其躯干和腿部之间的步态过渡的问题。首先，生成对应于pronking和两个变化的边界的周期性运动。这些步态中躯干俯仰运动的分析揭示了确定这些步态之间的过渡是否可以实现的基本差异。然后将此观察结果纳入控制设计中，以提高所产生运动的稳定性。通过仿真估计了闭环系统的吸引域，表明在pronking和bounding之间的转换可以实现为一系列的不动点之间的切换。在这项工作中的结果可以被视为第一步合成控制器的模板模型内的步态过渡四足跑步步态。
This paper examines the problem of transitioning between gaits using a sagittal-plane reduced-order model of quadrupedal running, which has compliant elements in its torso and legs. First, periodic motions that correspond to pronking and two variations of bounding are generated. Analysis of the torso pitch motion in these gaits reveals basic differences that determine whether transitions between these gaits can be achieved. This observation is then incorporated in control design to enhance the stability of the generated motions. The domain of attraction of the closed-loop systems is estimated through simulation, showing that transition between pronking and bounding can be realized as a sequence of switchings between fixed points. The results in this work can be regarded as the first step towards synthesizing controllers for gait transitions within template models for quadrupedal running gaits.
骨应变：步态和速度的决定因素？
DOI：
10.1242/jeb.123.1.383
发表时间：
1986
期刊：
The Journal of experimental biology
影响因子：
--
作者：
Biewener,AA;Taylor,CR
通讯作者：
Taylor,CR