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首页> 外文期刊>IEEE Transactions on Robotics >Stable Walking Gaits for a Three-Link Planar Biped Robot With One Actuator
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Stable Walking Gaits for a Three-Link Planar Biped Robot With One Actuator

机译：具有一个执行器的三连杆平面Biped机器人的稳定行走步态

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摘要

We consider a benchmark example of a three-link planar biped walker with torso, which is actuated in between the legs. The torso is thought to be kept upright by two identical torsional springs. The mathematical model reflects a three-degree-of-freedom mechanical system with impulse effects, which describe the impacts of the swing leg with the ground, and the aim is to induce stable limit-cycle walking on level ground. The main contribution is a novel systematic trajectory planning procedure for solving the problem of gait synthesis. The key idea is to find a system of ordinary differential equations for the functions describing a synchronization pattern for the time evolution of the generalized coordinates along a periodic motion. These functions, which are known as virtual holonomic constraints, are also used to compute an impulsive linear system that approximates the time evolution of the subset of coordinates that are transverse to the orbit of the continuous part of the periodic solution. This auxiliary system, which is known as transverse linearization, is used to design a nonlinear exponentially orbitally stabilizing feedback controller. The performance of the closed-loop system and its robustness with respect to various perturbations and uncertainties are illustrated via numerical simulations.
机译：我们考虑一个具有躯干的三连杆平面两足助行器的基准示例，它在两腿之间被致动。人们认为，躯干由两个相同的扭转弹簧保持直立。该数学模型反映了具有脉冲效应的三自由度机械系统，该系统描述了摆腿对地面的影响，目的是在水平地面上诱导稳定的极限循环行走。主要贡献是一种新颖的系统轨迹规划程序，用于解决步态综合问题。关键思想是为这些函数找到一个常微分方程组，这些函数描述了同步模式的广义坐标沿时间运动的同步模式。这些称为虚拟完整约束的函数也用于计算脉冲线性系统，该系统近似于与周期解连续部分的轨道垂直的坐标子集的时间演化。该辅助系统称为横向线性化，用于设计非线性指数轨道稳定反馈控制器。通过数值模拟说明了闭环系统的性能及其对各种扰动和不确定性的鲁棒性。

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