Dynamic gait transition between walking, running and hopping for push recovery
Dynamic gait transition between walking, running and hopping for push recovery
复制标题
行走、跑步和跳跃之间的动态步态转换，以实现推力恢复
DOI：
10.1109/humanoids.2017.8239530
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
T. Yoshiike
中科院分区：
文献类型：
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作者：
Takumi Kamioka;Hiroyuki Kaneko;Mitsuhide Kuroda;Chiaki Tanaka;Shinya Shirokura;Masanori Takeda;T. Yoshiike
步态轨迹的重新规划是补偿外部干扰的关键能力。迄今为止，已经提出了大量用于重新规划足迹和定时的方法。然而，具有将运动从步行改变为跑步或从步行改变为跳跃的能力的机器人从未被提出过。在本文中，我们提出了一种方法，重新规划不仅为脚步和时间，但运动模式，其中包括步行，跑步和跳跃。运动模式的重新规划方法包括并行计算和一个新的成本函数的排序系统。为了验证该方法，我们进行了推恢复实验，其中在现场行走时，在向前的方向上推动，并在横向方向上推动时，在向前的方向上行走。实验结果表明，该算法通过运动过渡有效地补偿了外部干扰。
Re-planning of gait trajectory is a crucial ability to compensate for external disturbances. To date, a large number of methods for re-planning footsteps and timing have been proposed. However, robots with the ability to change locomotion from walking to running or from walking to hopping were never proposed. In this paper, we propose a method for replanning not only for footsteps and timing but also locomotion mode which consists of walking, running and hopping. The re-planning method of locomotion mode consists of parallel computing and a ranking system with a novel cost function. To validate the method, we conducted push recovery experiments which were pushing in the forward direction when walking on the spot and pushing in the lateral direction when walking in the forward direction. Results of experiments showed that the proposed algorithm effectively compensated for external disturbances by making a locomotion transition.