Observer-based control of a walking biped robot without orientation measurement
Observer-based control of a walking biped robot without orientation measurement
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基于观察者的双足步行机器人控制，无需方向测量
DOI：
10.1017/s0263574705002390
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发表时间：
2006
期刊：
影响因子：
2.7
通讯作者：
F. Plestan
中科院分区：
文献类型：
--
作者：
Vincent Lebastard;Y. Aoustin;F. Plestan
提出了两种基于高阶滑模方法的观测器来确定无脚步行双足机器人的绝对方向。与通常为机器人控制设计的速度观测器相反，针对方向估计提出的工作很少：在本文中，所有状态变量的估计仅来自驱动的关节变量。从而避免了绝对测量的技术问题。后一点是本文的原创贡献。观察者和控制律在有限时间内收敛，非常适合循环步行步态的分析。然后，第二个原创贡献在于将现有的“简化”庞加莱基于截面的行走稳定性分析应用于状态变量不完全可用的非线性系统。
Two observers based on high order sliding mode approach are proposed to determine the absolute orientation of a walking biped robot without feet. Contrary to velocities observers which have been often designed for robot control, very few works have been proposed for the orientation estimation: in this paper, the estimation of all state variables are derived from only the actuated joint variables. Then the technology problem of the absolute measurement is avoided. This latter point is an original contribution of this paper. The observers and the control law converge in finite-time and are well adapted for analysis of the cyclic walking gait. Then, a second original contribution consists in adapting an existing “simplified” Poincaré's sections-based analysis of the stability of the walking to nonlinear systems with not fully available state variables.