Oehlke Jonathan, Beckerle Philipp, Seyfarth André, Sharbafi Maziar A
Institut für Mechatronische Systeme im Maschinenbau, Technische Universität Darmstadt, Otto-Berndt-Straße 2, 64287, Darmstadt, Germany.
Elastic Lightweight Robotics Group, Robotics Research Institute, Technische Universität Dortmund, Otto-Hahn-Straße 8, 44221, Dortmund, Germany.
Biol Cybern. 2019 Jun;113(3):227-238. doi: 10.1007/s00422-018-0788-4. Epub 2018 Oct 28.
Template models of legged locomotion are powerful tools for gait analysis, but can also inspire robot design and control. In this paper, a spring-loaded inverted pendulum (SLIP) model is employed to control vertical hopping of a 2-segmented legged robot. Feed-forward and bio-inspired virtual model control using the SLIP model are compared. In the latter approach, the feedback control emulates a virtual spring between hip and foot. The results demonstrate similarity of human and robot hopping. Moreover, the feedback control proves to simplify and improve hopping control. It yields better perturbation recovery and locomotion adaptation and is even easier to tune. Thus, human-like hopping is achievable using a rather simple template-based controller, which ensures the required performance, robustness and versatility.
腿部运动的模板模型是步态分析的有力工具，但也能启发机器人的设计与控制。本文采用弹簧加载倒立摆（SLIP）模型来控制两关节腿部机器人的垂直跳跃。对使用SLIP模型的前馈和受生物启发的虚拟模型控制进行了比较。在后一种方法中，反馈控制模拟了髋部和脚部之间的虚拟弹簧。结果表明人类和机器人跳跃具有相似性。此外，反馈控制被证明可以简化和改进跳跃控制。它能实现更好的扰动恢复和运动适应，而且更容易调整。因此，使用相当简单的基于模板的控制器就可以实现类人跳跃，该控制器能确保所需的性能、鲁棒性和通用性。
