The Passivity Paradigm in the Control of Bipedal Robots
The Passivity Paradigm in the Control of Bipedal Robots
复制标题
双足机器人控制中的被动范式
DOI：
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发表时间：
2005
期刊：
影响因子：
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通讯作者：
M. Spong
中科院分区：
文献类型：
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作者：
M. Spong
无源性和基于无源性的控制的概念在控制理论中得到了很好的确立，并为控制提供了强大的设计工具。本文概述了两足运动中基于被动的控制与被动行走概念之间的显著关系。我们展示了如何利用基于被动的控制理论来设计双足机器人的非线性控制律，这些双足机器人可以在克服被动步态的一些限制的同时，再现与地面坡度无关的被动极限环，例如对地面坡度的极端敏感性，吸引力小的盆，以及较差的抗干扰性。
The concepts of Passivity and Passivity-Based Control are well established in control theory and provide powerful design tools for control. In this paper we give an overview of a remarkable relation between Passivity-Based Control and the notion of Passive Walking in bipedal locomotion. We show how passivity-based control theory can be used to design nonlinear control laws for bipedal robots that reproduce passive limit cycles independent of the ground slope while overcoming some of the limitations of passive gaits, such as extreme sensitivity to ground slope, small basins of attraction, and poor disturbance rejection.