双足机器人的双支撑行走原语

IF 4.9 3区 计算机科学 Q1 ENGINEERING, MULTIDISCIPLINARY
Guoshuai Liu, Zhiguo Lu, Zhongqing Li, Jin Xuan, Aizun Liu
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引用次数: 0

摘要

行走是双足机器人的基本运动方式。线性倒立摆模型被广泛应用于行走模式的生成。每个支撑周期的直线倒立摆运动可以设计成一个行走原语,连接起来形成行走轨迹。提出了一种将双支撑相集成到行走原语中的新方法。该方法描述了使用双支撑行走原语的行走模式生成,具体为侧向平面的行走模式生成,包括原地行走、侧向行走和行走起始;矢状平面的行走模式生成,包括定步长行走、变步长行走和行走起始。与没有双支撑相的行走原语相比,双支撑相的行走原语降低了机器人所需的最大速度,并且消除了为实现连续速度而调整落脚点的需要。在位置控制双足机器人Neubot上进行了仿真和实验,验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A Walk Primitive with Double Support for Biped Robots

Walking is the basic locomotion pattern for bipedal robots. The walking pattern is widely generated using the linear inverted pendulum model. The linear inverted pendulum motion of each support period can be designed as a walk primitive to be connected to form a walking trajectory. A novel method of integrating double support phase into the walk primitive was proposed in this article. The method describes the generation of walking patterns using walk primitives with double support, specifically for lateral plane including walking in place, walking for lateral, and walking initiation, and for sagittal plane including fixed step length walking, variable step length walking, and walking initiation. Compared to walk primitives without double support phase, those with double support phase reduce the maximum speed required by the robot and eliminate the need to adjust foothold for achieving continuous speed. The performance of the proposed method is validated by simulations and experiments on Neubot, a position-controlled biped robot.

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来源期刊
Journal of Bionic Engineering
Journal of Bionic Engineering 工程技术-材料科学:生物材料
CiteScore
7.10
自引率
10.00%
发文量
162
审稿时长
10.0 months
期刊介绍: The Journal of Bionic Engineering (JBE) is a peer-reviewed journal that publishes original research papers and reviews that apply the knowledge learned from nature and biological systems to solve concrete engineering problems. The topics that JBE covers include but are not limited to: Mechanisms, kinematical mechanics and control of animal locomotion, development of mobile robots with walking (running and crawling), swimming or flying abilities inspired by animal locomotion. Structures, morphologies, composition and physical properties of natural and biomaterials; fabrication of new materials mimicking the properties and functions of natural and biomaterials. Biomedical materials, artificial organs and tissue engineering for medical applications; rehabilitation equipment and devices. Development of bioinspired computation methods and artificial intelligence for engineering applications.
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