A self-exciting controller for high-speed vertical running
A self-exciting controller for high-speed vertical running
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一种用于高速垂直运行的自励磁控制器
DOI：
10.1109/iros.2009.5354095
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
D. Koditschek
中科院分区：
文献类型：
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作者：
G. Lynch;Jonathan E. Clark;D. Koditschek
传统的腿跑者和登山者严重依赖内部时钟或参考轨迹形式的步态生成器。相比之下，在这里我们展示了一个快速、动态、垂直爬墙机器人的物理实验，并附有控制器的稳定性证明，该控制器无需额外的内部时钟或参考信号即可生成控制器。具体来说，我们表明，这种“自激”控制器确实生成了“几乎”全局渐近稳定的极限环：吸引子盆地在拓扑上尽可能大，并且包括除内部为空的集合之外的所有状态空间。我们对由此产生的攀爬行为与更传统的时钟生成步态轨迹跟踪器所实现的攀爬行为进行了实证比较。新型自激步态发生器在垂直攀爬速度方面表现出显着提高，实际上通过实现每秒 1.5 个身体长度的垂直速度树立了动态攀爬的新基准。
Traditional legged runners and climbers have relied heavily on gait generators in the form of internal clocks or reference trajectories. In contrast, here we present physical experiments with a fast, dynamical, vertical wall climbing robot accompanying a stability proof for the controller that generates it without any need for an additional internal clock or reference signal. Specifically, we show that this “self-exciting” controller does indeed generate an “almost” globally asymptotically stable limit cycle: the attractor basin is as large as topologically possible and includes all the state space excluding a set with empty interior. We offer an empirical comparison of the resulting climbing behavior to that achieved by a more conventional clock-generated gait trajectory tracker. The new, self-exciting gait generator exhibits a marked improvement in vertical climbing speed, in fact setting a new benchmark in dynamic climbing by achieving a vertical speed of 1.5 body lengths per second.