Removing Phase Variables from Biped Robot Parametric Gaits.
Removing Phase Variables from Biped Robot Parametric Gaits.
复制标题
从 Biped 机器人参数化步态中删除相位变量。
DOI：
10.1109/ccta.2017.8062563
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
Gregg,RobertD
中科院分区：
文献类型：
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作者：
Mohammadi,Alireza;Horn,Jonathan;Gregg,RobertD
基于混合零动态的控制是一种很有前途的框架，用于控制欠驱动机器人和动力假肢。在这种控制模式中，稳定的步行步态被隐式地编码在机器人配置变量的多项式输出函数中，这些变量将通过反馈被归零。通过合适的机械定相变量来参数化步态的输出函数，该定相变量的演变决定了在每一步期间步态的进展。然而，确定适当的相位变量可能并不总是一项微不足道的任务。在本文中，我们提出了一种方法，从给定的参数步行步态生成输出函数没有任何明确的知识的相位变量。我们的消除方法是基于计算多项式的结果，一种广泛用于计算机代数的代数工具。
Hybrid zero dynamics-based control is a promising framework for controlling underactuated biped robots and powered prosthetic legs. In this control paradigm, stable walking gaits are implicitly encoded in polynomial output functions of the robot configuration variables, which are to be zeroed via feedback. The biped output functions are parameterized by a suitable mechanical phasing variable whose evolution determines the biped gait progression during each step. Determining a proper phase variable, however, might not always be a trivial task. In this paper, we present a method for generating output functions from given parametric walking gaits without any explicit knowledge of the phase variables. Our elimination method is based on computing the resultant of polynomials, an algebraic tool widely used in computer algebra.