A framework for the coordination of legged robot gaits

IEEE Conference on Robotics, Automation and Mechatronics, 2004. Pub Date : 2004-12-01 DOI:10.1109/RAMECH.2004.1438000

J. Weingarten, R. Groff, D. Koditschek

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引用次数: 54

Abstract

This paper introduces a framework for representing, generating, and then tuning gaits of legged robots. We introduce a convenient parametrization of gait generators as dynamical systems possessing designer specified stable limit cycles over an appropriate torus. This parametrization affords a continuous selection of operation within a coordination design plane, inspired by biology, spanned by axes that determine the mix of "feedforward/feedback" and "centralized/decentralized" control. Tuning the gait generator parameters through repeated physical experiments with our robot hexapod, RHex, determines the appropriate operating point - the mix of feedback and degree of control decentralization - to achieve significantly increased performance relative to the centralized feedforward operating point that has governed its previous behavior. The present preliminary experiments with these new gaits suggest that they may permit for the first time locomotion over extremely rough terrain that is almost as reliable, rapid, and energy efficient as the very fastest or most efficient outcomes centralized feedforward gaits can achieve on level ground.

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一种有腿机器人步态协调的框架

介绍了一种用于表示、生成和调整有腿机器人步态的框架。我们引入了一种方便的参数化步态发生器作为具有设计者指定的稳定极限环的动态系统。这种参数化在协调设计平面内提供了连续的操作选择，受到生物学的启发，由决定“前馈/反馈”和“集中/分散”控制混合的轴所跨越。通过与我们的机器人六足机器人RHex进行重复的物理实验，调整步态生成器参数，确定适当的操作点-反馈和控制分散程度的混合-相对于控制其先前行为的集中前馈操作点，实现显着提高的性能。目前对这些新步态的初步实验表明，它们可能首次允许在极其崎岖的地形上运动，这几乎与在平地上最快或最有效的集中前馈步态一样可靠、快速和节能。

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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IEEE Conference on Robotics, Automation and Mechatronics, 2004.

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