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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Differentially Flat Design of Bipeds Ensuring Limit Cycles
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Differentially Flat Design of Bipeds Ensuring Limit Cycles

机译：确保极限环的Biped的差分平面设计

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摘要

For bipedal walking, a set of joint trajectories is acceptable as long as it satisfies certain overall motion requirements, such as: 1) it is repetitive (limit cycles); 2) it allows the foot to clear ground; and 3) it allows the biped to move forward. Since the actual trajectory followed by a biped is not as important, a biped having some unactuated joints can also meet these motion requirements. Furthermore, due to physical constraints, a biped cannot have an actuator between the foot and the ground. Hence, it is underactuated during the phase when the foot is rolling on the ground. Besides underactuation, a bipedal robot has nonlinear dynamics and impacts. In general, it is difficult to prove existence of limit cycles for such systems. In this paper, a design methodology that renders planar bipedal robots differentially flat is presented. Differential flatness allows generation of parameterized limit cycles for this class of planar nonlinear underactuated bipeds. Sequential quadratic-programming-based numerical optimization routines are used to optimize these limit cycles while satisfying the motion constraints. The planning and control methodology is illustrated by a two-link biped.
机译：对于双足步行，只要满足某些总体运动要求，则可以接受一组关节轨迹，例如：1）它是重复性的（极限循环）； 2）允许脚离开地面； 3）它允许两足动物向前移动。由于两足动物遵循的实际轨迹并不那么重要，因此具有一些未激活关节的两足动物也可以满足这些运动要求。此外，由于物理限制，两足动物不能在脚和地面之间具有执行器。因此，在脚在地面上滚动的阶段中，驱动不足。除了欠驱动外，双足机器人还具有非线性动力学和冲击力。通常，很难证明此类系统存在极限环。在本文中，提出了一种使平面双足机器人具有不同平面的设计方法。差分平坦度允许生成此类平面非线性欠驱动两足动物的参数化极限环。基于顺序二次编程的数值优化例程用于在满足运动约束的同时优化这些极限循环。通过两足动物两足动物来说明计划和控制方法。

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