An alternative approach to synthesizing bipedal walking
An alternative approach to synthesizing bipedal walking
复制标题
合成双足行走的另一种方法
DOI：
10.1007/s00422-002-0330-5
复制
发表时间：
2003
影响因子：
1.9
通讯作者：
F. C. T. Helm
中科院分区：
文献类型：
--
作者：
H. Kooij;R. Jacobs;B. Koopman;F. C. T. Helm
摘要。在力学分析的基础上，找到了生成七连杆人形双足动物矢状面循环步态需要控制的三个步态描述符：(1)步长，(2)步长时间，(3)蹬蹬时质心速度。这三个步态描述符中的两个可以独立选择，因为CoM在摆动阶段几乎是弹道运动。这些步态描述符被表述为端点条件，并由模型预测控制器进行调节。此外，在躯干和膝盖处实施连续控制，以保持躯干直立并确保负重。模型预测控制器采用二次动态矩阵控制实现，提供了包含环境和双足动物自身暴露的约束的可能性。指定步长和推离时的CoM速度，控制器生成对称且稳定的步态。所提出的控制方案可作为双足步态生成的通用解决方案。与其他模型相比，该模型包含的参数更少，而且它们都与两足步态的决定因素直接相关：步长、躯干方向、步长时间、步行速度和负重。提出的仿人两足步行控制目标和模型在机器人和康复工程中具有潜在的应用前景。
Abstract. Based on mechanical analysis, three gait descriptors are found which should be controlled to generate cyclic gait of a seven-link humanoid biped in the sagittal plane: (i) step length, (ii) step time, and (iii) the velocity of the center of mass (CoM) at push off. Two of these three gait descriptors can be chosen independently, since the CoM moves almost ballistically during the swing phase. These gait descriptors are formulated as end-point conditions and are regulated by a model predictive controller. In addition, continuous controls at the trunk and knees are implemented to maintain the trunk upright and to ensure weight bearing. The model predictive controller is realized by quadratic dynamic matrix control, which offers the possibility of including constraints that are exposed by the environment and the biped itself. Specifying step length and CoM velocity at push off, the controller generates a symmetric and stable gait. The proposed control scheme serves as a general-purpose solution for the generation of a bipedal gait. The proposed model contains fewer parameters than other models, and they are all directly related to determinants of bipedal gait: step length, trunk orientation, step time, walking velocity, and weight bearing. The proposed control objectives and the model of humanoid bipedal walking have potential applications in robotics and rehabilitation engineering.