Controlled Reduction With Unactuated Cyclic Variables: Application to 3D Bipedal Walking With Passive Yaw Rotation

Gregg R.D.; Righetti L.

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Controlled Reduction With Unactuated Cyclic Variables: Application to 3D Bipedal Walking With Passive Yaw Rotation

机译：具有未激活的循环变量的受控归约：在具有被动偏航旋转的3D双足步行中的应用

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This technical note shows that viscous damping can shape momentum conservation laws in a manner that stabilizes yaw rotation and enables steering for underactuated 3D walking. We first show that unactuated cyclic variables can be controlled by passively shaped conservation laws given a stabilizing controller in the actuated coordinates. We then exploit this result to realize controlled geometric reduction with multiple unactuated cyclic variables. We apply this underactuated control strategy to a five-link 3D biped to produce exponentially stable straight-ahead walking and steering in the presence of passive yawing.

机译：该技术说明表明，粘性阻尼可以通过稳定偏航旋转并为转向不足的3D行走进行转向的方式来塑造动量守恒定律。我们首先表明，未激活的循环变量可以通过被动形状的守恒定律来控制，只要在激活坐标中具有稳定控制器即可。然后，我们利用此结果来实现具有多个未激活循环变量的受控几何约简。我们将此欠驱动控制策略应用于两足动物的五链接3D，以在存在被动偏航的情况下产生指数稳定的直行行走和转向。

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《IEEE Transactions on Automatic Control》 |2013年第10期|2679-2685|共7页
作者
Gregg R.D.; Righetti L.;
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作者单位

Departments of Mechanical Engineering and Bioengineering, University of Texas at Dallas, Richardson, United States of America|c|;

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原文格式 PDF
正文语种 eng
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关键词
Asymptotic stability; bipedal robots; inverse dynamics; nonlinear control; underactuation;

机译：渐近稳定性;双足机器人;逆动力学;非线性控制;欠驱动;

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1. Stable walking gaits for a three-link planar biped robot with two actuators based on the collocated virtual holonomic constraints and the cyclic unactuated variable ? [J] . Sergej ?elikovsky, Milan Anderle IFAC PapersOnLine . 2018,第22期

机译：用于三连杆平面的稳定行走机器，具有两个基于搭配的虚拟定性约束的两个执行器和循环unweation变量？< / ce：sup>
2. Wheel Locomotion of a Biped Robot Using Passive Rollers: Biped Robot Roller Walking Using a Variable-Curvature Truck [J] . Masaaki Kumagai, Kaoru Tamada Journal of robotics and mechatronics . 2008,第2a114期

机译：使用被动滚轮的Biped机器人的车轮运动：使用可变曲率卡车行走的Biped机器人滚子
3. Wheel Locomotion of a Biped Robot Using Passive Rollers Large Biped Robot Roller Walking Using a Variable-Curvature Truck [J] . Masaaki Kumagai, Kaoru Tamada Journal of robotics and mechatronics . 2008,第2期

机译：使用被动滚轮的Biped机器人的车轮运动使用可变曲率卡车行走的大型Biped机器人滚子
4. Controlled reduction of a five-link 3D biped with unactuated yaw [C] . Gregg Robert D. Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on . 2011

机译：受控还原未激活偏航的五链接3D
5. A sensory-based adaptive walking control algorithm for variable speed biped robot gaits. [D] . Kun, Andrew L. 1997

机译：基于传感器的自适应Biped变速步态的步行控制算法。
6. Controlled Reduction with Unactuated Cyclic Variables: Application to 3D Bipedal Walking with Passive Yaw Rotation [O] . Robert D. Gregg, Ludovic Righetti -1

机译：未激活的循环变量的受控归约：在被动偏航旋转的3D双足步行中的应用
7. Controlled Reduction With Unactuated Cyclic Variables: Application to 3D Bipedal Walking With Passive Yaw Rotation [O] . Righetti, Ludovic 2013

机译：未激活的循环变量的受控归约：在被动偏航旋转的3D双足步行中的应用

Controlled Reduction With Unactuated Cyclic Variables: Application to 3D Bipedal Walking With Passive Yaw Rotation

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