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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Motion Control of a Novel Planar Biped With Nearly Linear Dynamics
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Motion Control of a Novel Planar Biped With Nearly Linear Dynamics

机译：具有近似线性动力学的新型平面Biped的运动控制。

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In this paper, we propose the design of a planar biped for which the model is nearly linear, i.e., the inertia matrix is a constant and the gravity terms in the equations of motion are still nonlinear, but simplified. The legs are designed such that the inertia matrix is independent of the joint variables. As a result, the nonlinear terms in the centrifugal and Coriolis terms disappear. In this design, each leg has two links that are connected by a revolute joint at the knee. The two legs are connected to each other at the hip. The center of mass of each leg is located at the hip, using counterweights. We assume that the stance leg is locked at the knee during the support phase. For this system, dynamic model for complete walking, i.e., swing phase, knee lock, and foot impact are considered. Motion control for trajectory following of this design is studied using a nonlinear controller. The paper discusses the issue of tracking of desired trajectories during the full cycle motion.
机译：在本文中，我们提出了一个平面Biped的设计，该模型的模型几乎是线性的，即惯性矩阵是一个常数并且运动方程中的重力项仍然是非线性的，但是得到了简化。支腿设计成使得惯性矩阵与关节变量无关。结果，离心项和科里奥利项中的非线性项消失了。在这种设计中，每条腿都有两个链接，两个链接通过膝盖处的旋转关节相连。两条腿在臀部彼此相连。每条腿的重心位于中心部位，并使用配重。我们假设在支撑阶段，站立姿势的腿锁定在膝盖上。对于该系统，考虑了用于完整步行的动态模型，即，摆动阶段，膝盖锁定和脚撞击。使用非线性控制器研究了针对该设计的轨迹运动控制。本文讨论了在整个周期运动中跟踪所需轨迹的问题。

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