Rezazadeh Siavash, Gregg Robert D
Department of Bioengineering, University of Texas at Dallas, Richardson, TX 75080, USA.
Proc ASME Dyn Syst Control Conf. 2016 Oct;2016. doi: 10.1115/DSCC2016-9851.
Although dynamic walking methods have had notable successes in control of bipedal robots in the recent years, still most of the humanoid robots rely on quasi-static Zero Moment Point controllers. This work is an attempt to design a highly stable controller for dynamic walking of a human-like model which can be used both for control of humanoid robots and prosthetic legs. The method is based on using time-based trajectories that can induce a highly stable limit cycle to the bipedal robot. The time-based nature of the controller motivates its use to entrain a model of an amputee walking, which can potentially lead to a better coordination of the interaction between the prosthesis and the human. The simulations demonstrate the stability of the controller and its robustness against external perturbations.
尽管近年来动态行走方法在双足机器人控制方面取得了显著成功，但大多数类人机器人仍依赖准静态零力矩点控制器。这项工作旨在为类人模型的动态行走设计一种高度稳定的控制器，该控制器可用于类人机器人和假肢的控制。该方法基于使用基于时间的轨迹，这种轨迹可以使双足机器人产生高度稳定的极限环。控制器基于时间的特性促使其用于训练截肢者行走模型，这可能会导致假肢与人体之间更好的相互作用协调。仿真结果证明了该控制器的稳定性及其对外部扰动的鲁棒性。
