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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Modeling and Optimal Control of Human-Like Running
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Modeling and Optimal Control of Human-Like Running

机译：类人跑步的建模与最优控制

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Designing and controlling an anthropomorphic mechatronic system that is able to perform a dynamic running motion is a challenging task. One difficulty is that the fundamental principles of natural human running motions are not yet fully understood. The purpose of this paper is to show that mathematical optimization is a helpful tool to gain this insight into fast and complex motions. We present physics-based running motions for complex models of human-like running in three dimensions that have been generated by optimization. Running is modeled as a multiphase periodic motion with discontinuities, based on multibody system models of the locomotor system with actuators and spring-damper elements at each joint. The problem of generating gaits is formulated as offline optimal control problem and solved by an efficient direct multiple shooting method. We present optimization results using energy-related criteria and show that they have a close resemblance to running motions of humans. The results provide information about the internal forces and torques required to produce natural human running, as well as on the resulting kinematics.
机译：设计和控制能够执行动态跑步运动的拟人机电一体化系统是一项艰巨的任务。一个困难是自然的人类跑步运动的基本原理还没有被完全理解。本文的目的是表明数学优化是一种有用的工具，可以帮助您深入了解快速复杂的运动。我们针对通过优化生成的三个维度的类人跑步的复杂模型，提出了基于物理学的跑步运动。基于运动系统的多体系统模型，将运动建模为具有不连续性的多相周期性运动，在每个关节处都带有致动器和弹簧阻尼器元件。产生步态的问题被表述为离线最优控制问题，并通过有效的直接多重射击方法解决。我们使用能量相关的标准提出了优化结果，并表明它们与人类的跑步运动非常相似。结果提供了有关产生自然人为奔跑所需的内力和扭矩的信息，以及所产生的运动学信息。

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