Simulation of postural control for a walking robot

IEEE 1991 International Conference on Systems Engineering Pub Date : 1900-01-01 DOI:10.1109/ICSYSE.1991.161144

P. Nagy, D. Manko, S. Desa, W. Whittaker

引用次数: 4

Abstract

Postural control is of utmost importance for walking robots, particularly for those that traverse rugged terrain. A dynamic model for locomotion in rugged terrain is presented. The model has 18 actuated degrees of freedom, plus six unactuated body translations and rotations to produce a total of 24 degrees of freedom. Nonlinear foot-terrain interaction models keep track of nonconservative soil deformations, and allow feet to make or break contact any number of times during a simulation. The utilization of this model for postural control studies is presented. A modification of the vertical hybrid control by allocation method is proposed as a viable postural control scheme. However, it is shown that positional control is sufficient in order to achieve stable response with the mechanism.<>

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行走机器人姿态控制仿真

姿势控制对于行走机器人来说是至关重要的，特别是对于那些穿越崎岖地形的机器人。提出了一种在崎岖地形中运动的动力学模型。该模型有18个驱动自由度，加上6个非驱动的身体平移和旋转，总共有24个自由度。非线性脚-地形相互作用模型跟踪非保守土壤变形，并允许脚在模拟过程中进行或中断任何次数的接触。介绍了该模型在姿态控制研究中的应用。提出了一种基于分配法的垂直混合控制改进方案，作为一种可行的姿态控制方案。然而，研究表明，位置控制足以使该机构获得稳定的响应。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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IEEE 1991 International Conference on Systems Engineering

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