Does a Finite-Time Double Support Period Increase Walking Stability for Planar Bipeds?
Does a Finite-Time Double Support Period Increase Walking Stability for Planar Bipeds?
复制标题
有限时间双支撑周期是否会提高平面两足动物的行走稳定性？
DOI：
10.1115/1.4048832
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Martin, Anne E.
中科院分区：
文献类型：
--
作者：
Williams, Daniel S.;Martin, Anne E.
对于许多平面双足模型，每一步都分为有限时间的单支撑周期和瞬时双支撑周期。在单点支撑期间，该传感器通常是欠驱动的，因此具有有限的拒绝干扰的能力。双支撑期间的瞬时性质防止在此期间的非脉冲控制。然而，如果双支撑周期扩展到有限时间，它成为过驱动。虽然已经假设在有限时间双支撑期间的这种过激励可以提高抗干扰能力，但是这还没有被测试。本文提出了一种改进的滑模控制模型，通过开发一个有限时间，自适应双支撑控制器能够处理过驱动和限制滑移。使用模拟，我们量化的干扰抑制能力的控制器，并直接比较它们的一个典型的，瞬时双支撑模型的步态速度和扰动的范围。我们发现，有限时间的双支持控制器增加了步行稳定性的双支撑在大约一半的情况下，表明有限时间的双支持期间不会自动增加干扰抑制能力。我们还发现，扰动的时间和幅度可以影响，如果一个有限的时间双支持期间提高稳定性。最后，我们证明了自适应控制器减少滑动。
For many planar bipedal models, each step is divided into a finite time single support period and an instantaneous double support period. During single support, the biped is typically underactuated and thus has limited ability to reject disturbances. The instantaneous nature of the double support period prevents nonimpulsive control during this period. However, if the double support period is expanded to finite time, it becomes overactuated. While it has been hypothesized that this overactuation during a finite-time double support period may improve disturbance rejection capabilities, this has not yet been tested. This paper presents a refined biped model by developing a finite-time, adaptive double support controller capable of handling the overactuation and limiting slip. Using simulations, we quantify the disturbance rejection capabilities of this controller and directly compare them to a typical, instantaneous double support model for a range of gait speeds and perturbations. We find that the finite-time double support controller increased the walking stability of the biped in approximately half of the cases, indicating that a finite-time double support period does not automatically increase disturbance rejection capabilities. We also find that the timing and magnitude of the perturbation can affect if a finite-time double support period enhances stability. Finally, we demonstrate that the adaptive controller reduces slipping.
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影响因子：
2.4
作者：
Roos, Paulien E.;Dingwell, Jonathan B.
通讯作者：
Dingwell, Jonathan B.
人类行走时局部和轨道动态稳定性之间的差异。
DOI：
--
发表时间：
2007
期刊：
Journal of Biomechanical Engineering
影响因子：
--
作者：
J. Dingwell;H. G. Kang
通讯作者：
H. G. Kang
DOI：
10.1115/1.2800760
发表时间：
2007-12-01
影响因子：
1.7
作者：
Su, Jimmy Li-Shin;Dingwell, Jonathan B.
通讯作者：
Dingwell, Jonathan B.
影响因子：
3.7
作者：
Ahn J;Hogan N
通讯作者：
Hogan N
影响因子：
2.1
作者：
Kuo, Arthur D.
通讯作者：
Kuo, Arthur D.