提出一种新型单腿机器人:庞加莱地图控制

Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) Pub Date : 2001-12-04 DOI:10.1109/CDC.2001.980842

T. Geng, G. Xiong, Linli Xie, Yupu Yang, Yu Guo, Qin Ma

{"title":"提出一种新型单腿机器人:庞加莱地图控制","authors":"T. Geng, G. Xiong, Linli Xie, Yupu Yang, Yu Guo, Qin Ma","doi":"10.1109/CDC.2001.980842","DOIUrl":null,"url":null,"abstract":"Two contributions of the paper are that: (1) a novel manner of one-legged locomotion, ballistic flipping, is proposed; (2) by using the method of a Poincare map, the fixed points corresponding to unstable cyclic flipping gait are found in simulation, then a strategy based on a neural network is presented to stabilize the fixed point. This robot needs no active control during its flight phases. Compared with other one-legged robots that had to regulate their attitudes while in flight, this robot may be energetically economical.","PeriodicalId":131411,"journal":{"name":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2001-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Proposing a novel one-legged robot: control via Poincare map\",\"authors\":\"T. Geng, G. Xiong, Linli Xie, Yupu Yang, Yu Guo, Qin Ma\",\"doi\":\"10.1109/CDC.2001.980842\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Two contributions of the paper are that: (1) a novel manner of one-legged locomotion, ballistic flipping, is proposed; (2) by using the method of a Poincare map, the fixed points corresponding to unstable cyclic flipping gait are found in simulation, then a strategy based on a neural network is presented to stabilize the fixed point. This robot needs no active control during its flight phases. Compared with other one-legged robots that had to regulate their attitudes while in flight, this robot may be energetically economical.\",\"PeriodicalId\":131411,\"journal\":{\"name\":\"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)\",\"volume\":\"41 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2001-12-04\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CDC.2001.980842\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CDC.2001.980842","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 1

摘要

本文的两个贡献是:(1)提出了一种新的单腿运动方式——弹道翻转;(2)采用庞加莱映射的方法，在仿真中找到不稳定循环翻转步态对应的不动点，并提出了一种基于神经网络的不动点稳定策略。这个机器人在飞行阶段不需要主动控制。与其他在飞行中必须调整姿态的单腿机器人相比，这种机器人在能量上可能是经济的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Proposing a novel one-legged robot: control via Poincare map

Two contributions of the paper are that: (1) a novel manner of one-legged locomotion, ballistic flipping, is proposed; (2) by using the method of a Poincare map, the fixed points corresponding to unstable cyclic flipping gait are found in simulation, then a strategy based on a neural network is presented to stabilize the fixed point. This robot needs no active control during its flight phases. Compared with other one-legged robots that had to regulate their attitudes while in flight, this robot may be energetically economical.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)

自引率

0.00%

发文量