BIPED GAIT STABILIZATION VIA FOOT PLACEMENT
BIPED GAIT STABILIZATION VIA FOOT PLACEMENT
复制标题
DOI：
10.1016/0021-9290(85)90042-9
复制
发表时间：
1985-01-01
影响因子：
2.4
通讯作者：
TOWNSEND, MA
中科院分区：
文献类型：
--
作者：
TOWNSEND, MA
稳定的两足步态是通过基于足部放置时可用信息的反馈的离散足部放置来实现的。该模型由 Townsend 开发，用于评估躯干运动的协调性，包含了大部分重要的身体部位和运动。该模型产生了一个带有可移动支撑点的广义倒立摆，该支撑点在物理上定义了脚的横向放置。稳定步态由足部放置来定义，足部放置是系统质心位置和足部放置时（仅）速度的线性函数。步态可能是平稳的，也可能有冲动修正，以调整运动的特征和脚的位置。提出了几种通用算法和具体模拟，并提出了非冲击步态和冲击校正的计算。将模型预测与已发布的数据进行比较。预测与数据足够接近，因此通用算法似乎得到了验证。特别令人感兴趣的是运动的非正弦特征和相对简单的算法。算法的简单性表明了腿式移动机器人的实用可能性。似乎有必要进行进一步的研究来确定步态的参数变化和控制。人们对连续反馈控制给予了一些关注，例如在双腿支撑和特殊任务（如走绳或滑冰）中存在的情况。
Stable biped gaits were achieved by discrete foot placement based on feedback of information availabe at the time of foot placement. The model, developed by Townsend to evaluate the coordinations of torso motions, subsumed most of the salient body members and motions. The modeling yielded a generalized inverted pendulum with a movable support point which physically defines lateral foot placement. Stable gaits were defined by foot placements which are a linear function of the system center of mass position and velocity at the time of foot placement (only). Gaits may be smooth or may have impulsive corrections to adjust the character of the motions and foot placement. Several general algorithms and specific simulations are presented, and calculations for nonimplusive gaits and implusive corrections are presented. The model predictions were compared with published data. The predictions were sufficiently close to the data such that the general algorithms appeared to be validated. Of particular interest were nonsinusoidal character of the motions and the relatively simple algorithms. The simplicity of the algorithms suggested the practical possibility of legged mobile robots. Further investigation seems warranted for determining the parametric variation and control of gait. Some attention is given to continuous-feedback control such as would exist during double-leg support and in specialized tasks such as rope walking or skating.