Learning Energy-Efficient Walking with Ballistic Walking
Learning Energy-Efficient Walking with Ballistic Walking
复制标题
通过弹道步行学习节能步行
DOI：
10.1007/4-431-31381-8_14
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发表时间：
2006
期刊：
影响因子：
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通讯作者：
M. Asada
中科院分区：
文献类型：
--
作者：
M. Ogino;K. Hosoda;M. Asada
提出了一种基于分层控制器的机器人能量有效步行方法。下层控制器具有用于每个支路的状态机。状态机由四种状态组成：1）在摆动腿的髋关节和膝关节上施加恒定的扭矩，2）不施加扭矩，摆动腿可以弹道式运动，3）使用PD控制器，在脚跟接触处可以实现一定的姿态，这使得机器人能够稳定行走，4）作为支撑腿，髋关节和膝关节被伺服以返回，并且施加扭矩以支撑大腿。利用该下层控制器，上层控制器可以搜索使机器人能够像人类行走一样能量有效地行走而不注意跌倒的参数。
This paper presents a method for energy efficient walking of a biped robot with a layered controller. The lower layer controller has a state machine for each leg. The state machine consists of four states: 1) constant torque is applied to hip and knee joints of the swing leg, 2) no torque is applied so that the swing leg can move in a ballistic manner, 3) a PD controller is used so that the certain posture can be realized at the heel contact, which enables a biped robot to walk stably, and 4) as the support leg, hip and knee joints are servoed to go back and the torque to support upper leg is applied. With this lower layer controller, the upper layer controller can search parameters that enable the robot to walk as energy efficiently as human walking without paying any attention to fall down.