Energy-preserving control of a passive one-legged running robot
Energy-preserving control of a passive one-legged running robot
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DOI：
10.1163/156855304773822464
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发表时间：
2004-01-01
影响因子：
2
通讯作者：
Emura, T
中科院分区：
文献类型：
--
作者：
Hyon, SH;Emura, T
快速和节能控制是一个越来越重要和有吸引力的研究领域，在腿运动。在本文中，我们提出了一种新的简单的控制器的平面单腿被动跑步机器人具有一个弹性腿和一个顺应髋关节。与以前提出的控制器相比，该控制器最显着的优点是它不需要任何预先规划的轨迹，也不需要目标动态。相反，它利用精确的非线性动力学。我们的结果总结如下。首先，我们提出了一个节能和自主步态生成的能量保存控制策略。该控制策略在飞行阶段成功地实现为一种新的着陆控制器。仿真结果表明，机器人可以从一个广泛的初始条件。此外，所产生的跑步步态被发现是准周期轨道，这可以在哈密顿系统中看到。由于受控跑步步态存在于每一个容许能量水平，它们对干扰具有一定的鲁棒性。接下来，它示出的自适应控制的触地角，这是一个类似的混沌系统的延迟反馈控制器，可以渐近稳定这些准周期步态的所需周期的周期性的，有一定的限制。特别地，对于单周期步态，通过使用一些额外的自适应控制器，机器人最终跳没有任何控制输入。由于我们的节能策略是明确的，控制器的实现是简单的，我们相信它可以很容易地应用到广泛的一类腿机构。
Fast and energy-efficient control is an increasingly important and attractive area of research in legged locomotion. In this paper, we present a new simple controller for a planar one-legged passive running robot having a springy leg and a compliant hip joint. The most distinctive advantage of the controller over previously proposed ones is it does not require any pre-planned trajectories nor target dynamics. Instead, it utilizes exact non-linear dynamics. Our results are summarized as follows. First, we propose an energy-preserving control strategy for energy-efficient and autonomous gait generation. This strategy is successfully implemented as a new touchdown controller at the flight phase. Simulation results show that the robot can hop from a wide set of initial conditions. Moreover, the running gaits generated are found to be quasi-periodic orbits, which can be seen in Hamiltonian systems. Since the controlled running gaits exist for every admissible energy level, they have some robustness against disturbances. Next, it is shown that an adaptive control of the touchdown angle, which is similar to a delayed feedback controller for a chaotic system, can asymptotically stabilize these quasi-periodic gaits to the periodic ones of the desired period, with some limitations. In particular, for one-periodic gait, by using some additional adaptive controllers, the robot eventually hops without any control inputs. Since our energy-preserving strategy is clear and implementation of the controller is straightforward, we believe it can be easily applied to a wide class of legged mechanisms.