Design of reference trajectory to stabilize desired nominal cyclic gait of a biped

Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI:10.1109/ROMOCO.1999.791069

Y. Aoustin, A. Formal'sky

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引用次数: 18

Abstract

The paper presents the design of a reference trajectory to stabilize a desired nominal motion of a planar biped. It consists of five rigid links, with no feet; only the hip and knee joints are actuated. The gait is composed of alternating phases of single and double support. Biped is under actuated during single support motion. Instantaneous double support is modeled by passive impact equations. We choose the inter-link angles for four actuated articulations as polynomials depending on the angle of supporting leg shin relative to the vertical position. Final inter-link angular velocities and accelerations are assumed zeros. The configuration of our biped does not change before an impact and the biped rotates as a rigid body around the ankle joint. The nominal cyclic motion of the biped is obtained numerically. We design the Poincare map and show that this nominal motion is asymptotically stable. We then improve the stability of the nominal regime by changing the inclination of the torso during the single support phase.

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稳定两足动物名义循环步态的参考轨迹设计

本文设计了一种稳定平面双足运动的参考轨迹。它由五个刚性连杆组成，没有脚;只有髋关节和膝关节被激活。步态由单支撑和双支撑交替组成。双足机器人在单次支撑运动时处于欠驱动状态。采用被动冲击方程对瞬时双支撑进行建模。我们选择四个驱动关节的连接角作为多项式，这取决于支撑小腿相对于垂直位置的角度。最终连杆角速度和加速度假定为零。我们双足的结构在撞击前不会改变，双足在踝关节周围作为一个刚体旋转。通过数值计算得到了双足机器人的标称循环运动。我们设计了庞加莱映射，并证明了这个标称运动是渐近稳定的。然后，我们通过在单支撑阶段改变躯干的倾斜度来提高名义状态的稳定性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)

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