3D dynamic walking based on the inverted pendulum model with two degree of underactuation
3D dynamic walking based on the inverted pendulum model with two degree of underactuation
复制标题
基于两度欠驱动倒立摆模型的3D动态行走
DOI：
10.1109/iros.2005.1545398
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
T. Fukuda
中科院分区：
文献类型：
--
作者：
M. Doi;Y. Hasegawa;T. Fukuda
本文提出了基于3D机器人固有动力学实现3D自然动态行走的新控制方法。该方法使用 3D 倒立摆模型描述机器人动力学，并将被动动态自主控制 (PDAC) 应用于其中。利用极坐标系表达机器人与地面接触点周围的机器人状态，并应用PDAC，可以将3维动力学表达为1维自治系统。由于自主性，该一维动力学具有称为 PDAC 常数的保守量。我们利用PDAC常数构建了稳定控制器，并基于一维动力学对行走进行了分析。最后通过实验对所提出的方法进行了检验。
In this paper, the new control method to realize 3D natural dynamic walking based on the 3D robot inherent dynamics is proposed. The proposed method describes robot dynamics by use of a 3D inverted pendulum model and applies passive dynamic autonomous control (PDAC) to it. By utilizing the polar coordinate system to express the robot state around the contact-point between robot and the ground and applying PDAC, it is possible to express the 3-dimensional dynamics as 1-dimensional autonomous system. Due to autonomy, this 1D dynamics has the conservative quantity named PDAC constant. We build the stabilizing controller by means of PDAC constant and analyze the walking based on the 1D dynamics. Finally the proposed method is tested by experiment.