控制平行联动腿的无轮辋轮式助行器的姿态腿运动和零时刻点,以实现完美的直立静止状态

IF 1.9 4区 计算机科学 Q3 ROBOTICS
Robotica Pub Date : 2024-09-19 DOI:10.1017/s0263574724001292
Fumihiko Asano, Mizuki Kawai
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引用次数: 0

摘要

作者研究了没有活动踝关节的腿部机器人的模型和控制方法,这些机器人不仅能高效行走,还能停止,并开发了一种方法,用于生成一种步态,这种步态从直立静止状态开始,并在一个控制输入的简单步行器中一步返回到相同的状态。然而,要实现包括零动态在内的完美直立静止状态是不可能的。基于这一观点,我们在本文中提出了一种新型并联腿机器人步行器,它能在使用两个控制输入同时控制姿态腿运动和零时刻点(ZMP)的情况下,一步返回到完美的静止站立姿势。首先,我们介绍了一个平面步行器模型,该模型由两个八足无缘轮、一个车身框架、一个反作用轮和无质量杆组成,并描述了系统动力学。其次,我们考虑了两个目标控制条件:一个是对姿态腿运动的控制,另一个是对 ZMP 的控制,以稳定零动态。然后,我们根据线性化模型得出的目标控制周期,确定基于这两个条件的控制输入,并考虑添加带偏移的正弦控制输入,以修正反作用力轮的最终状态。我们通过数值模拟研究了所提方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Control of stance-leg motion and zero-moment point for achieving perfect upright stationary state of rimless wheel type walker with parallel linkage legs
The authors have studied models and control methods for legged robots without having active ankle joints that can not only walk efficiently but also stop and developed a method for generating a gait that starts from an upright stationary state and returns to the same state in one step for a simple walker with one control input. It was clarified, however, that achieving a perfect upright stationary state including zero dynamics is impossible. Based on the observation, in this paper we propose a novel robotic walker with parallel linkage legs that can return to a perfect stationary standing posture in one step while simultaneously controlling the stance-leg motion and zero-moment point (ZMP) using two control inputs. First, we introduce a model of a planar walker that consists of two eight-legged rimless wheels, a body frame, a reaction wheel, and massless rods and describe the system dynamics. Second, we consider two target control conditions; one is control of the stance-leg motion, and the other is control of the ZMP to stabilize zero dynamics. We then determine the control input based on the two conditions with the target control period derived from the linearized model and consider adding a sinusoidal control input with an offset to correct the resultant terminal state of the reaction wheel. The validity of the proposed method is investigated through numerical simulations.
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来源期刊
Robotica
Robotica 工程技术-机器人学
CiteScore
4.50
自引率
22.20%
发文量
181
审稿时长
9.9 months
期刊介绍: Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.
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