Control of the Lateral Motion in Biped Walking Based on the Assumption of Point-contact
Control of the Lateral Motion in Biped Walking Based on the Assumption of Point-contact
复制标题
基于点接触假设的双足行走横向运动控制
DOI：
10.1299/kikaic.72.1832
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发表时间：
2006
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;T. Matsuno;Y. Hasegawa;T. Fukuda
本文提出了一种新的控制方法--被动动态自主控制（PDAC）。被动动态自主控制是基于Grizzle等人提出的以下概念：1）点接触2）虚拟约束。点接触是指机器人与地面的接触状态为点接触。这使得可以基于机器人固有动力学产生机器人运动，尽管它变得难以控制。虚拟约束是指机器人各关节之间的连接和互锁。我们提出的新方法，通过这些概念来表达整个机器人动力学的一维自治系统。由于自主性，该方法具有以下两个值得注意的点：1）可以获得从脚接触到下一次脚接触的时间段; 2）存在保守量，使得可以稳定运动。作为实现三维动态步行的第一步，本文将PDAC应用于机器人的横向运动，并建立了控制器。此外，稳定和运动周期控制的报告。通过实验验证了该控制方法的有效性，实现了机器人的预期横向运动.
This paper proposes the novel control method named Passive Dynamic Autonomous Control (PDAC) PDAC is based on the following concept which Grizzle et al. employed previously : 1) point-contact 2) Virtual constraint. Point-contact means that the contact state between a robot and the ground is point. This makes it possible to generate the robot motion based on the robot inherent dynamics although it becomes difficult to control. Virtual constraint means that all robot joints are connected and interlocked. We present the new approach by means of these concepts to express the whole robot dynamics an an 1-dimensional autonomous system. Due to autonomy, this approach has two following notable points : 1) period from foot-contact to next foot-contact can be obtained 2) there is a conservative quantity to make it possible to stabilize the motion. As the first step of realization of 3 D dynamic walking, this paper applies PDAC to the lateral motion and builds the controller. In addition, the stabilization and motion period control are reported. The validity of these control is confirmed by experiment and desired lateral motion is realized.