论文标题
用于补偿运行两足机器人地面更改的控制方法
A Control Method to Compensate Ground Level Changes for Running Bipedal Robots
论文作者
论文摘要
在机器人中，双足跑是很难实现的一项艰巨任务，因为躯干不足，并且受间歇地面触点的控制受到限制。如果地形不平衡并引起扰动，稳定躯干就会变得更加具有挑战性。实现姿势稳定性的一种生物启发的方法是虚拟点（VP）控制，它能够产生自然运动。但是，到目前为止，它仅研究了水平运行。在这项工作中，我们调查了VP控制方法是否可以容纳单个降落和下坡地形。我们提供有关处理不同地形条件的模型和控制器参数化的指南。接下来，我们表明，VP方法能够稳定高达40厘米的单个踩下扰动，并且下坡成绩高达20-10°，对应于2-5m/s的运行速度。我们的结果表明，副总裁控制是对两体机器人的地形自适应跑步控制的有前途的候选人。
Bipedal running is a difficult task to realize in robots, since the trunk is underactuated and control is limited by intermittent ground contacts. Stabilizing the trunk becomes even more challenging if the terrain is uneven and causes perturbations. One bio-inspired method to achieve postural stability is the virtual point (VP) control, which is able to generate natural motion. However, so far it has only been studied for level running. In this work, we investigate whether the VP control method can accommodate single step-downs and downhill terrains. We provide guidelines on the model and controller parameterizations for handling varying terrain conditions. Next, we show that the VP method is able to stabilize single step-down perturbations up to 40 cm, and downhill grades up to 20-10° corresponding to running speeds of 2-5m/s. Our results suggest that VP control is a promising candidate for terrain-adaptive running control of bipedal robots.
