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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Stabilizing and Direction Control of Efficient 3-D Biped Walking Based on PDAC
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Stabilizing and Direction Control of Efficient 3-D Biped Walking Based on PDAC

机译：基于PDAC的高效3-D Biped步行的稳定和方向控制

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摘要

This paper proposes a 3-D biped dynamic walking algorithm based on passive dynamic autonomous control (PDAC). The robot dynamics is modeled as an autonomous system of a 3-D inverted pendulum by applying the PDAC concept that is based on the assumption of point contact of the robot foot and the virtual constraint as to robot joints. Due to autonomy, there are two conservative quantities named “PDAC constant,” which determine the velocity and direction of the biped walking. We also propose the convergence algorithm to make PDAC constants converge to arbitrary values, so that walking velocity and direction are controllable. Finally, experimental results validate the performance and the energy efficiency of the proposed algorithm.
机译：提出了一种基于被动动态自主控制（PDAC）的3-D Biped动态步行算法。通过应用PDAC概念将机器人动力学建模为3-D倒立摆的自主系统，该概念基于机器人脚的点接触和对机器人关节的虚拟约束的假设。由于自治，有两个保守的量称为“ PDAC常数”，它们确定两足动物行走的速度和方向。我们还提出了收敛算法，使PDAC常数收敛到任意值，从而可以控制行走速度和方向。最后，实验结果验证了所提算法的性能和能效。

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