Bio-Inspired Equilibrium Point Control Scheme for Quadrupedal Locomotion
Bio-Inspired Equilibrium Point Control Scheme for Quadrupedal Locomotion
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DOI：
10.1109/tcds.2018.2853597
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发表时间：
2019-06
影响因子：
5
通讯作者：
Yapeng Shi;Pengfei Wang;Xin Wang;F. Zha;Zhenyu Jiang;Wei Guo;Mantian Li
中科院分区：
文献类型：
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作者：
Yapeng Shi;Pengfei Wang;Xin Wang;F. Zha;Zhenyu Jiang;Wei Guo;Mantian Li
本文的目的是提出一个力控制方案，通过采用生物运动行为的观察四足运动。具体而言，基于平衡点（EP）假设，我们建立了一个生物启发的EP控制器在笛卡尔空间。所提出的EP控制器修改EP轨迹适当地随着时间的推移，从两个角度来看，这可以确保稳定的相互作用和系统平衡。一种观点是基于躯干姿态补偿来直接补偿姿态角误差。另一种是基于脚力跟踪算法和导纳模型的。本文的主要贡献是展示了EP控制器如何实现动态平衡，没有输入的惯性参数识别的机器人或地形信息估计。总的来说，EP控制方案简化了稳定性问题，并且易于在实践中使用。最后，我们进行了一系列的仿真和实验，以评估EP控制算法的有效性。仿真结果表明，该控制器可以提高系统的动态稳定性，实现系统的柔顺性。
The goal of this paper is to present a force control scheme for quadrupedal locomotion by adopting observations of biological motor behavior. Specifically, based on the equilibrium point (EP) hypothesis, we set up a bio-inspired EP controller in Cartesian space. The proposed EP controller modifies the EP trajectories appropriately over time from two perspectives, which can ensure stable interactions and system equilibrium. One perspective is directly compensating for the posture angle error based on torso posture compensation. The other is based on the foot force tracking algorithm and admittance model. The main contribution of this paper is to show how the EP controller realizes dynamic balance with no input about inertial parameter identification for the robot or terrain information estimation. Overall, the EP control scheme is simplified for stability problems and is easy to use in practice. Finally, we carried out a series of simulations and experiments to evaluate the effectiveness of the EP control algorithm. The results demonstrate that the proposed controller may improve dynamic stability and realize compliance performance.