Optimal and robust walking using intrinsic properties of a series-elastic robot

Alexander Werner, Bernd Henze, F. Loeffl, S. Leyendecker, C. Ott
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引用次数: 6

Abstract

Series-Elastic Actuators (SEA) have been proposed as a technology to build robust humanoid robots. The aim of this work is to generate efficient and robust walking for such robots. We present a combined approach which exploits the system dynamics through optimization based trajectory generation and a robust control scheme. The compliant actuator dynamics are explicitly modeled in the optimal control problem. For local stabilization, a passivity based tracking controller distributes the required control forces onto the available contacts. Additionally, a predictive control scheme for step adaptation is presented, which provides feasible contact points in the future. Using a reduced model, this combines efficient walking with robustness against model or environment uncertainties and external disturbances.
基于系列弹性机器人固有特性的最优鲁棒行走
系列弹性致动器(SEA)被提出作为一种构建鲁棒类人机器人的技术。这项工作的目的是为这样的机器人产生高效和健壮的行走。我们提出了一种结合方法,通过基于优化的轨迹生成和鲁棒控制方案来利用系统动力学。在最优控制问题中,明确地建立了柔性作动器的动力学模型。对于局部稳定,基于无源性的跟踪控制器将所需的控制力分配到可用的触点上。此外,还提出了一种阶跃自适应的预测控制方案,为今后提供了可行的接触点。使用简化模型,它结合了高效行走和对模型或环境不确定性和外部干扰的鲁棒性。
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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