Research on emergence mechanism of voluntary motion in locomotion and modeling of locomotion control

本研究讨论了运动的控制，重点是动态步态转换与适应环境和运动中的自主运动。过去几年的生物学研究为克服这些困难作出了巨大贡献。在自发运动中，比如直走，许多关节和肌肉被组织成一个集体单元，虽然它的自由度更少，但仍然需要保持必要的灵活性，以适应不断变化的环境。另一方面，在自主运动中，比如在转弯行走中，另一个有组织的集体单位会根据指令信号选择性地出现。运动中的腿部运动有两个基本阶段。一个是摇摆台，另一个是支撑台。在摆动阶段，执行机构力被放松；关节变得不那么僵硬，更加被动。在支撑阶段，关节的刚度由于产生的力而增加，更多的是由拮抗的执行器对。通过平衡调节这对执行器产生的力来控制和调整关节的刚度，使机器人能够更好地适应环境和地面的变化。执行器的音调结构控制的想法是受到生物学研究的启发。本文以四足机器人为例，提出了一种基于非线性振荡器的步态转换控制系统。本文介绍了一种具有对抗性气动执行器对的四足机器人振荡器控制器的研制。它由一个自发运动控制器和一个自发音调控制器组成。自发运动控制器被设计成一个振荡器网络，振荡器之间具有外部传感器反馈信号的相互作用。动力学的相互作用使振子之间的相互夹带成为可能，并创造了四足运动总周期动力学的稳定极限环。另一方面，自主音调控制器根据运动速度和身体状态来控制主体的姿势。通过监测主体的运动速度和滚动运动和俯仰运动的幅度，控制躯干的刚度，特别是脊柱的关节刚度，以稳定和减少主体滚动运动和俯仰运动幅度的发散，保持姿态。结果表明，腿部通过主体运动的周期性运动的动态相互作用会根据系统的动态状态发生变化，并根据运动速度和身体运动产生合适的步态模式。通过数值仿真和硬件实验，验证了该控制系统的良好性能。研究结果表明了该系统的有效性。少

This study discusses the control of locomotion, with an emphasis on dynamic gait transition with an adaptation to the environment and voluntary motions in locomotion.Biological research over the last few years has made great contributions to overcoming such difficulties. During spontaneous motion such as walking straight, many joints and muscles are organized into a collective unit that is controlled as though it had fewer degrees of freedom (DOFs), but that still needs to retain the necessary flexibility for changing environments. During voluntary motion, on the other hand, such as in turning walks, another organized collective unit emerges selectively according to the commanded signal.Leg motions in locomotion have two essential stages. One is the swinging stage and the other is the supporting stage. In the swinging stage, the actuator forces are relaxed; the joints become less stiff and more passive. In the supporting stage, stiffness of the joints increases due to forces generated … More by the antagonistic pair of actuators. By controlling and tuning the stiffness of the joints through the balanced adjustment of the generated force of such a pair of actuators, the robot is expected to become more adaptive to variations in the environment and in the surface of the ground. The idea of the architecture of tones control of the actuators is inspired by the biological studies.In this study, a new system is proposed for controlling the gait transition by choosing a quadruped robot for example with nonlinear oscillators. Development of an oscillator controller for quadruped robots with antagonistic pairs of pneumatic actuators is shown in this paper. It consists of a spontaneous locomotion controller and a voluntary tones controller. The spontaneous locomotion controller is designed as an oscillator network that has mutual interactions among oscillators with feedback signals from external sensors. The dynamic interactions make possible mutual entrainments between oscillators and create a steady limit cycle of the total periodic dynamics of quadruped locomotion.The voluntary tones controller, on the other hand, controls the posture of the main body according to locomotion speed and body state. Monitoring the locomotion speed and the amplitude of the rolling motion and pitching motion of the main body, the stiffness of the trunk, especially the joint stiffness of the spine are controlled to stabilize and reduce the divergence of the amplitude of rolling and pitching motion of the main body to keep the posture. To the results, the dynamic interactions of the periodic motions of the legs through the motion of the main body changes according to the dynamic state of the system, and appropriate gait pattern emerges according to the locomotion speed and body motion.The performance of the proposed control system was verified to be good through numerical simulations and hardware experiments. The result of this study shows the effectiveness of the proposed system. Less