Step timing adjustment: A step toward generating robust gaits
Step timing adjustment: A step toward generating robust gaits
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DOI：
10.1109/humanoids.2016.7803251
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发表时间：
2016-10
期刊：
影响因子：
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通讯作者：
M. Khadiv;Alexander Herzog;A. Moosavian;L. Righetti
中科院分区：
文献类型：
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作者：
M. Khadiv;Alexander Herzog;A. Moosavian;L. Righetti
人形机器人的步长调整已被证明可以提高步态的稳健性。然而，在控制策略中，步骤持续时间自适应经常被忽视。在本文中，我们提出了一种结合步骤位置和时间调整来生成稳健步态的方法。在这种方法中，步骤位置和步骤时间是根据机器人当前状态的反馈来决定的。所提出的方法由两个阶段组成。在第一阶段，指定下一步的标称步骤位置和步骤持续时间或预览的步骤数。在此阶段（在每个步骤开始时完成）的主要目标是指定所需行走速度的最佳步长和步长持续时间。第二阶段涉及在每个控制周期找到摆脚的最佳着陆点和着陆时间。在此阶段，通过指定当前步骤结束时摆动脚着陆点和运动发散分量 (DCM) 之间的所需偏移量来保持步态的稳定性。在指定所需时间的摆脚着陆点后，在每个控制周期重新生成摆脚轨迹，以实现所需的着陆特性。对不同场景的模拟表明，与不采用时序调整的情况相比，我们提出的方法生成的步态具有鲁棒性。
Step adjustment for humanoid robots has been shown to improve robustness in gaits. However, step duration adaptation is often neglected in control strategies. In this paper, we propose an approach that combines both step location and timing adjustment for generating robust gaits. In this approach, step location and step timing are decided, based on feedback from the current state of the robot. The proposed approach is comprised of two stages. In the first stage, the nominal step location and step duration for the next step or a previewed number of steps are specified. In this stage which is done at the start of each step, the main goal is to specify the best step length and step duration for a desired walking speed. The second stage deals with finding the best landing point and landing time of the swing foot at each control cycle. In this stage, stability of the gaits is preserved by specifying a desired offset between the swing foot landing point and the Divergent Component of Motion (DCM) at the end of current step. After specifying the landing point of the swing foot at a desired time, the swing foot trajectory is regenerated at each control cycle to realize desired landing properties. Simulation on different scenarios shows the robustness of the generated gaits from our proposed approach compared to the case where no timing adjustment is employed.