Control of a planar underactuated biped on a complete walking cycle

Chemori A.; Loria A.

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Control of a planar underactuated biped on a complete walking cycle

机译：在完整的步行周期中控制平面驱动不足的Biped

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摘要

We address the problem of stabilizing a planar biped robot on a complete walking cycle. Our approach is based on singling out the three fundamental phases of motion of a biped: single and double-support, separated (sequentially) by an impact "instantaneous" phase. We propose control laws to drive the robot for a finite time during each phase, while ensuring certain robustness vis-a-vis the impacts which are treated as external perturbations.

机译：我们解决了在完整的步行周期上稳定平面Biped机器人的问题。我们的方法基于将Biped的运动的三个基本阶段分离出来：单支撑和双支撑，通过碰撞“瞬时”阶段（依次）分开。我们提出了控制律，以便在每个阶段的有限时间内驱动机器人，同时确保相对于被视为外部干扰的冲击具有一定的鲁棒性。

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《IEEE Transactions on Automatic Control》 |2004年第5期|p.838-843|共6页
作者
Chemori A.; Loria A.;
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正文语种 eng
中图分类自动化系统;
关键词
legged locomotion; mechanical variables control; perturbation techniques; robot dynamics; complete walking cycle; external perturbations; planar underactuated biped robot; underactuated mechanical systems; Bipod robots; underactuated mechanical systems;

机译：腿式运动;机械变量控制;摄动技术;机器人动力学;完整的步行周期;外部摄动;平面驱动不足的Biped机器人;驱动不足的机械系统;双足机器人;驱动不足的机械系统;

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专利

1. Comments on “Control of a Planar Underactuated Biped on a Complete Walking Cycle” [J] . Brogliato B. IEEE Transactions on Automatic Control . 2007,第5期

机译：关于“在完整的步行周期内控制平面驱动不足的Biped”的评论
2. Comments on “Control of a Planar Underactuated Biped on a Complete Walking Cycle” [J] . Brogliato B. IEEE Transactions on Automatic Control . 2007,第5期

机译：关于“在完整的步行周期内控制平面驱动不足的Biped”的评论
3. Terrain-blind walking of planar underactuated bipeds via velocity decomposition-enhanced control [J] . Fevre Martin, Goodwine Bill, Schmiedeler James P. The International journal of robotics research . 2019,第10a11期

机译：通过速度分解增强控制的平面欠驱动两足动物的地形盲行走
4. Control of a planar five link under-actuated biped robot on a complete walking cycle [C] . Chemori, A., Loria, . 2002

机译：在完整的步行周期中控制平面五连杆欠驱动双足机器人
5. Output Function Optimization for Faster Convergence Rate in Underactuated Bipedal Walking Control [D] . Chan, Wai Kei. 2017

机译：欠驱动双足行走控制中更快收敛速度的输出函数优化
6. Simulation Analysis of Impulsive Ankle Push-Off on the Walking Speed of a Planar Biped Robot [O] . Qiaoli Ji, Zhihui Qian, Lei Ren, 2020

机译：平面双层机器人步行速度的冲动踝关节仿真分析
7. Comments on "Control of a Planar Underactuated Biped on a Complete Walking Cycle" [O] . Brogliato, Bernard 2007

机译：关于“在完整的步行周期内控制平面驱动不足的Biped”的评论

Control of a planar underactuated biped on a complete walking cycle

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