被动罗经双足机器人轨迹设计与跟踪控制

2020 4th International Conference on Advanced Systems and Emergent Technologies (IC_ASET) Pub Date : 2020-12-15 DOI:10.1109/IC_ASET49463.2020.9318277

Essia Added, H. Gritli

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引用次数: 5

摘要

采用脉冲混合非线性系统对被动动力罗经型双足机器人的运动机理进行建模，是模拟人类行走的最佳模型。这项工作关注的是研究这种行走所产生的不同问题，尽管它很简单，如混乱和分叉，并提出一个基于控制的解决方案，以使其类似于人类的行走。为此，提出了两种基于轨迹设计的控制方法:一种是基于被动动态行走的控制方法，另一种是基于四阶bsamizier函数跟踪规划轨迹的控制方法。最后给出了仿真结果，验证了双足罗盘机器人被动行走控制的有效性。

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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Trajectory Design and Tracking-Based Control of the Passive Compass Biped

The locomotion mechanism of the passive-dynamic compass-type biped robot is modeled by an impulsive hybrid nonlinear system and it is the best model for mimicking the human walking. This work is concerned with the study of the different problems generated by this walk despite its simplicity such as chaos and bifurcations, and to propose a control-based solution in order to have a walk similar to that of the human. For this objective, two control methods relying on the trajectory design are proposed: a method based on the passive dynamic walking and a method based on the tracking of a planned trajectory by a fourth-order Bézier function. Finally, some simulation results are presented to show the control efficiency of the passive walk of the bipedal compass robot.

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2020 4th International Conference on Advanced Systems and Emergent Technologies (IC_ASET)

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