A Simplified Stability Study for a Biped Walk with Underactuated and Overactuated Phases
A Simplified Stability Study for a Biped Walk with Underactuated and Overactuated Phases
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具有欠驱动和过驱动阶段的两足行走的简化稳定性研究
DOI：
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发表时间：
2005
期刊：
影响因子：
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通讯作者：
Y. Aoustin
中科院分区：
文献类型：
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作者：
S. Miossec;Y. Aoustin
本文对两足动物行走步态的稳定性进行了研究。步态是周期性的，由单支撑阶段、被动冲击阶段和双支撑阶段组成。参考轨迹被描述为小腿方向相对于站立腿的地面的函数。我们用poincar<s:1>图来研究两足动物行走步态的稳定性。我们只研究了在单支撑阶段不受控制的动力学稳定性，即胫角动力学。然后，我们假设在两足动物的其他关节角的参考跟踪中没有扰动。所研究的庞加莱图是一维的。理论和仿真结果表明，采用特定的双支撑控制律，只需一步就可以消除角速度的摄动误差。确定了每一步的收敛区域。给出了循环步态存在的条件，并给出了给定循环步态的稳定性条件。结果表明，给定的过驱动双支撑相位控制律实际上保证了循环运动的稳定。应该注意的是，对于双足动物来说，从一个停止的位置一步达到一个周期状态是可能的。
This paper is devoted to a stability study of a walking gait for a biped. The walking gait is periodic and it is composed of a single-support phase, a passive impact, and a double-support phase. The reference trajectories are described as a function of the shin orientation versus the ground of the stance leg. We use the Poincaré map to study the stability of the walking gait of the biped. We only study the stability of dynamics not controlled during the single-support phase, i.e., the dynamics of the shin angle. We then suppose there is no perturbation in the tracking of the references of the other joint angles of the biped. The studied Poincaré map is then of dimension one. With a particular control law in double support, it is shown theoretically and in simulation that a perturbation error in the velocity of the shin angle can be eliminated in one step only. The zone of convergence in one step is determined. The condition of existence of a cyclic gait is given, and for a given cyclic gait, the stability condition is also given. It is shown that due to the given control law for the overactuated double-support phase, a cyclic motion is practically guaranteed to be stable. It should be noted it is possible for the biped to reach a periodic regime from a stopped position in one step.