Reduced-Order-Model-Based Feedback Design for Thruster-Assisted Legged Locomotion
Reduced-Order-Model-Based Feedback Design for Thruster-Assisted Legged Locomotion
复制标题
基于降阶模型的推进器辅助腿式运动反馈设计
DOI：
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
A. Ramezani
中科院分区：
文献类型：
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作者：
Pravin Dangol;A. Ramezani
机器人的实时约束满足可能是相当具有挑战性的，因为在考虑系统动力学和环境相互作用时产生的高计算复杂性，通常需要简化建模，可能不一定考虑所有性能标准。相反，我们提出了一种无优化的方法，操纵参考轨迹，以满足地面接触所带来的约束，以及那些规定的状态和输入。轨迹的意外变化，特别是优化产生周期性步态的轨迹变化，可能会对步态稳定性产生不利影响，但是我们将证明我们的方法仍然可以通过使用我们机器人独有的同轴推进器来保证步态的稳定性。
Real-time constraint satisfaction for robots can be quite challenging due to the high computational complexity that arises when accounting for the system dynamics and environmental interactions, often requiring simplification in modelling that might not necessarily account for all performance criteria. We instead propose an optimization-free approach where reference trajectories are manipulated to satisfy constraints brought on by ground contact as well as those prescribed for states and inputs. Unintended changes to trajectories especially ones optimized to produce periodic gaits can adversely affect gait stability, however we will show our approach can still guarantee stability of a gait by employing the use of coaxial thrusters that are unique to our robot.
足式机器人在线最优阻抗规划
DOI：
10.1109/iros40897.2019.8967696
发表时间：
2019
期刊：
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影响因子：
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作者：
Angelini F
通讯作者：
Angelini F