Control Synergies for Rapid Stabilization and Enlarged Region of Attraction for a Model of Hopping
Control Synergies for Rapid Stabilization and Enlarged Region of Attraction for a Model of Hopping
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跳跃模型快速稳定和扩大吸引区域的控制协同作用
DOI：
10.3390/biomimetics3030025
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发表时间：
2018
期刊：
影响因子：
4.5
通讯作者：
Pranav A. Bhounsule
中科院分区：
文献类型：
--
作者：
A. Zamani;Pranav A. Bhounsule
受生物控制协同作用的启发，其中固定的肌肉群以协调的方式被激活，以稳定的方式执行任务，我们提出了一种类似的控制方法，用于稳定腿式机器人，并将其应用于运行模型。我们的方法是基于一步一步的概念的稳定性，也被称为轨道稳定性，使用轨道控制李雅普诺夫函数。我们在适当选择的庞加莱部分（运动周期中的瞬间，如飞行中阶段）映射机器人状态和控制动作（例如，脚放置角度、推力、制动力）到下一步骤的庞加莱截面处的机器人状态。该图用于找到导致稳定状态（标称）步态的控制动作。接下来，我们在庞加莱截面定义一个二次李雅普诺夫函数。对于一系列的初始条件下，我们找到的控制行动，将最小化的能量度量，同时确保李雅普诺夫函数衰减指数快速连续步骤之间。对于跑步模型，我们发现，优化揭示了三个不同的控制协同效应取决于初始条件：（1）当总能量与稳态（标称）步态的能量相同时，使用脚放置角;（2）当总能量小于标称时，使用脚放置角和推力;（3）当总能量大于标称值时，采用脚放置角和制动力。
Inspired by biological control synergies, wherein fixed groups of muscles are activated in a coordinated fashion to perform tasks in a stable way, we present an analogous control approach for the stabilization of legged robots and apply it to a model of running. Our approach is based on the step-to-step notion of stability, also known as orbital stability, using an orbital control Lyapunov function. We map both the robot state at a suitably chosen Poincaré section (an instant in the locomotion cycle such as the mid-flight phase) and control actions (e.g., foot placement angle, thrust force, braking force) at the current step, to the robot state at the Poincaré section at the next step. This map is used to find the control action that leads to a steady state (nominal) gait. Next, we define a quadratic Lyapunov function at the Poincaré section. For a range of initial conditions, we find control actions that would minimize an energy metric while ensuring that the Lyapunov function decays exponentially fast between successive steps. For the model of running, we find that the optimization reveals three distinct control synergies depending on the initial conditions: (1) foot placement angle is used when total energy is the same as that of the steady state (nominal) gait; (2) foot placement angle and thrust force are used when total energy is less than the nominal; and (3) foot placement angle and braking force are used when total energy is more than the nominal.
影响因子：
2.5
作者：
Ting, LH;Macpherson, JM
通讯作者：
Macpherson, JM
影响因子：
2.5
作者：
Torres-Oviedo, Gelsy;Macpherson, Jane M.;Ting, Lena H.
通讯作者：
Ting, Lena H.
影响因子：
3.4
作者：
Ernst, M.;Geyer, H.;Blickhan, R.
通讯作者：
Blickhan, R.