Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing
Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing
复制标题
仿人双足机器人运动的运动基元：步行和爬楼梯
DOI：
10.1109/icra.2012.6225344
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
A. Ames
中科院分区：
文献类型：
--
作者：
Matthew J. Powell;Huihua Zhao;A. Ames
本文提出了一种开发用于多运动行为的两足机器人控制技术的方法。通过对人类在平地、楼上和楼下行走的实验数据的研究，获得了对人类运动基本行为的洞察。具体地说，证明了人的某些输出与运动地形无关，可以用单一的函数来表征，称为扩展的正则人函数。在平面机器人两足动物在平地、楼上和楼下行走的模拟中，通过反馈线性化来跟踪这种形式的优化函数-这三种运动模式被称为运动基元。提出了第二种优化方法，它产生了控制器，使机器人从一个运动基元进化到另一个运动基元--这些运动模式被称为“运动转换”。最后给出了仿真结果，显示了机器人两足动物在金字塔楼梯上通过每种运动模式时的受控进化。
This paper presents an approach to the development of bipedal robotic control techniques for multiple locomotion behaviors. Insight into the fundamental behaviors of human locomotion is obtained through the examination of experimental human data for walking on flat ground, upstairs and downstairs. Specifically, it is shown that certain outputs of the human, independent of locomotion terrain, can be characterized by a single function, termed the extended canonical human function. Optimized functions of this form are tracked via feedback linearization in simulations of a planar robotic biped walking on flat ground, upstairs and downstairs - these three modes of locomotion are termed “motion primitives.” A second optimization is presented, which yields controllers that evolve the robot from one motion primitive to another - these modes of locomotion are termed “motion transitions.” A final simulation is given, which shows the controlled evolution of a robotic biped as it transitions through each mode of locomotion over a pyramidal staircase.