一种新型行走两足动物的轨迹规划与控制

Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204) Pub Date : 2001-09-05 DOI:10.1109/CCA.2001.974018

T. McGee, M. Spong

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引用次数: 15

摘要

本文讨论了Kiefer等人(1993)最初提出的平面欠驱动双电机三连杆步行机器人的控制问题。该机器人由两条腿组成，通过直流电机与圆柱形躯干相连。该设计存在的一个关键问题是在保证有界躯干速度的同时产生稳定的步态。我们提出了一种解决方案，通过设计腿的轨迹来控制轮毂的速度。部分反馈线性化控制用于跟踪期望的腿轨迹，进而确定控制轮毂速度的零动力学。通过对机器人的详细仿真，验证了该控制方案的有效性。

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 planning and control of a novel walking biped

This paper discusses the control of the planar underactuated two-motor, three-link walking robot originally considered by Kiefer et al. (1993). This robot consists of two legs connected to a cylindrical torso by DC-motors. A key problem that exists with this design is the generation of stable gaits while simultaneously guaranteeing bounded torso velocity. We present a solution to this problem by controlling the velocity of the hub through design of the leg trajectories. Partial feedback linearization control is used to track the desired leg trajectories, which in turn determine the zero dynamics governing the hub velocity. A detailed simulation of the robot is used to demonstrate the performance of this proposed control scheme.

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Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)

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