Research and development for underactuated bio-mimetic walking robot

在这项研究中，我们考虑应用一种新的配方被动速度场控制（PVFC）的欠驱动仿生步行机器人（UBWR）的控制问题。PVFC是众所周知的全驱动机械系统的有效控制方法。然而，PVFC不能直接应用于UBWR的控制，因为独立执行器的数量严格小于广义坐标的数量。为了克服这个问题，我们引入解耦向量场。通过解耦矢量场合成PVFC的期望速度矢量场，证明了可以成功地获得控制力矩，并保证了PVFC的UBWR合成问题的可解性。蛇板是UBWR的一个典型例子，属于欠驱动机械系统，不能用光滑的静态状态反馈来稳定。在这类欠驱动平面机器人中，包括蛇板和欠驱动刚体。本文从理论上通过几何方法对蛇板和欠驱动刚体进行了研究。然而，到目前为止，这些UBWR的反馈控制问题，从一个给定的配置在休息到一个期望的配置在休息还没有得到完全解决，本文中，我们新开发的控制设计方法，结合PVFC解耦矢量场，并提出了显式反馈解决方案的UBWR的控制问题。

In this study we consider the application of a new formulation of passive velocity field control (PVFC) to the control problem of underactuated bio-mimetic walking robot (UBWR). PVFC is well known as the effective control method for fully actuated mechanical systems. However PVFC cannot be directly applied to the control of the UBWR, since the number of independent actuators is strictly less than the number of generalized coordinates. In order to overcome this problem we introduce the decoupling vector fields. Synthesizing the desired velocity vector fields for PVFC by the decoupling vector fields, we are able to prove that control torques may be successfully obtained and the solvability of the synthesizing problem of PVFC for the UBWR may be guaranteed.Snakeboard is a typical example of the UBWR and categorized into the class of underactuated mechanical systems that cannot be stabilized by the smooth static state feedback. In this class underactuated planar manipulator, snakeboard and underactuated rigid bodies are included. Snakeboard and underactuated rigid bodies have been studied from the theoretical point of view via geometric approaches. However, until now for these UBWR feedback control problem of steering from a given configuration at rest to a desired configuration at rest has not been solved completely.In this paper we newly develop the control design methodology that is combined PVFC with decoupling vector fields and propose an explicit feedback solution to the control problems of the UBWR.