LS2N, CNRS, École Centrale de Nantes, 1 rue de la Noë, BP 92101, 44321 Nantes, Cedex 3, France.
Bioinspir Biomim. 2017 Jun 20;12(4):046006. doi: 10.1088/1748-3190/aa728f.
To a large extent, robotics locomotion can be viewed as cyclic motions, named gaits. Due to the high complexity of the locomotion dynamics, to find the control laws that ensure an expected gait and its stability with respect to external perturbations, is a challenging issue for feedback control. To address this issue, a promising way is to take inspiration from animals that intensively exploit the interactions of the passive degrees of freedom of their body with their physical surroundings, to outsource the high-level exteroceptive feedback control to low-level proprioceptive ones. In this case, passive interactions can ensure most of the expected control goals. In this article, we propose a methodological framework to study the role of morphology in the design of locomotion gaits and their stability. This framework ranges from modelling to control aspects, and is illustrated through three examples from bio-inspired locomotion: a three-dimensional micro air vehicle in hovering flight, a pendular planar climber and a bipedal planar walker. In these three cases, we will see how simple considerations based on the morphology of the body can ensure the existence of passive stable gaits without requiring any high-level control.
在很大程度上，机器人运动可以看作是周期性运动，称为步态。由于运动动力学的高度复杂性，要找到控制律来确保预期的步态及其对外部干扰的稳定性，对于反馈控制来说是一个具有挑战性的问题。为了解决这个问题，一个有前途的方法是从动物身上汲取灵感，这些动物充分利用身体的被动自由度与物理环境之间的相互作用，将高级的外部反馈控制外包给低级的本体感受控制。在这种情况下，被动相互作用可以确保大多数预期的控制目标。在本文中，我们提出了一个研究形态在运动步态设计及其稳定性中的作用的方法框架。这个框架从建模到控制方面，通过三个来自仿生运动的例子来说明：一个悬停飞行的三维微型飞行器、一个摆动的平面攀爬器和一个双足平面步行者。在这三个案例中，我们将看到基于身体形态的简单考虑如何在不需要任何高级控制的情况下确保被动稳定步态的存在。
