Continuous and dynamically equilibrated one-legged running experiments: Motion generation and indirect force feedback control
Continuous and dynamically equilibrated one-legged running experiments: Motion generation and indirect force feedback control
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DOI：
10.1109/iros.2012.6385819
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发表时间：
2012-12
期刊：
影响因子：
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通讯作者：
B. Ugurlu;T. Kawasaki;M. Kawanishi;T. Narikiyo
中科院分区：
文献类型：
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作者：
B. Ugurlu;T. Kawasaki;M. Kawanishi;T. Narikiyo
本文旨在提出一种框架，该框架由一个模式发生器和一个控制器，这是结合在一起，以实现连续和动态平衡的运行运动的4连杆3自由度的单腿机器人没有被动顺应元件。最初，我们利用一个模式发生器来合成动态一致的运行轨迹，其中的旋转惯量和相关的角动量项的特点。对于控制器，地面反力约束间接施加到系统。为此，计算与水平和垂直力误差相对应的关节扭矩值。随后，将它们插入到导纳滤波器块中以获得相关的关节位移。然后，这些关节位移被反馈到本地伺服控制器，以主动顺应的方式实现间接力反馈控制。此外，增加了摩擦补偿和脚方向控制器模块，以提高系统性能。为了验证该方法的有效性，在实际的单腿机器人上进行了行走实验。结果，我们满意地获得了连续的，动态平衡的和重复的运行周期。
This paper is aimed at presenting a framework that consists of a pattern generator and a controller, which are combined together to realize continuous and dynamically equilibrated running motion on a 4-link 3-DoF one-legged robot with no passively compliant elements. Initially, we make use of a pattern generator to synthesize dynamically-consistent running trajectories in which the rotational inertia and the associated angular momentum term are characterized. As for the controller, ground reaction force constraints are imposed to the system indirectly. For this purpose, joint torque values that are corresponding to horizontal and vertical force errors are computed. Subsequently, they are inserted to an admittance filter block to obtain the associated joint displacements. These joint displacements are then fed-back to local servo controllers to implement indirect force feedback control in an actively compliant manner. Additionally, friction compensation and foot orientation controller blocks are added to enhance the system performance. In order to validate the method, running experiments are conducted on the actual one-legged robot. As the result, we satisfactorily obtained continuous, dynamically equilibrated and repetitive running cycles.