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Study on principle of optimal control for energy-efficient walking systems

节能步行系统最优控制原理研究

基本信息

批准号：
18360115
负责人：
ASANO Fumihiko
金额：
$ 8.06万
依托单位：
The Institute of Physical and Chemical Research
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2006
资助国家：
日本
起止时间：
2006 至 2007
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-18360115/
关键词：
Dynamic walking Biped robot Gait generation Energy efficiency Optimal control

项目摘要

We have studied robotic biped gait generation based on its dynamics and improvement of the gait efficiency theoretically and experimentally. It is empirically known that the convex curve of the foot, which characterizes passive-dynamic walkers, has important effects on increasing the walking speed. We mathematically clarified the effects of semicircular feet; acting as the virtual ankle-joint torque during the stance phase and reducing the energy dissipation caused by heel strikes, and confirmed that they dramatically improve the gait efficiency through numerical simulations. Parametrically excited dynamic bipedal walking is also our main research subject. We finally completed an experimental walking machine and succeeded its stable level walking by adjusting the physical and control parameters. The experimental result was highly-appraised internationally. In the theoretical investigation, we have considered to achieve parametrically excitation by actuating the knee joint, and successfully applied the effect to level gait generation. We further proposed several advanced methods; parametric excitation based on up-and-down motion of robot's center of mass and ornithoid walking by inverse knee-joint bending, and compared their gait efficiency. Furthermore, we have investigated the gait stability of limit cycle walkers from the viewpoint of mechanical energy balance. We then identified the conditions necessary to systematically achieve this energy balance and clarified their physical meanings. We also considered applying a bisecting hip mechanism (BHM) for adding an upper body to passive-dynamic walkers without destroying their natural dynamics. By clarifying the robot's driving mechanism incorporating the BHM, we successfully achieved its efficient level dynamic walking. Throughout our investigations, we provided novel insights and deep understandings into how energy-efficient and ZMP-free robots can generate a dynamic bipedal gait.

从理论和实验两方面研究了机器人双足步态生成的动力学基础和步态效率的提高。实验证明，以被动动态步行者为特征的足部凸起曲线对提高步行速度有重要作用。我们从数学上阐明了半圆形脚在站立阶段作为虚拟踝关节力矩的作用，并减少了脚跟撞击造成的能量消耗，并通过数值模拟证实了它们显著提高了步态效率。参数激励下的动态两足步行也是我们的主要研究课题。最终完成了一台实验步行机，通过调整物理参数和控制参数，成功实现了其稳定的水平行走。实验结果在国际上得到了高度评价。在理论研究中，我们考虑了通过驱动膝关节来实现参数激励，并成功地将其应用到水平步态生成中。在此基础上，提出了基于机器人质心上下运动的参数激励和基于膝关节反向弯曲的小鸟行走等几种先进的步行方法，并对它们的步态效率进行了比较。此外，我们从机械能平衡的角度研究了极限环步行者的步态稳定性。然后，我们确定了系统地实现这种能量平衡的必要条件，并阐明了它们的物理意义。我们还考虑应用平分髋关节机构(BHM)，在不破坏自然动力的情况下，为被动动力步行者增加上半身。通过明确机器人结合BHM的驱动机理，成功地实现了机器人的高效级动态行走。在整个研究过程中，我们为节能和无ZMP的机器人如何产生动态的两足步态提供了新的见解和深刻的理解。