论文标题
动态步行的最简单平衡控制器
The Simplest Balance Controller for Dynamic Walking
论文作者
论文摘要
即使在扰动时，人类在步行过程中也可以很好地平衡。但是似乎很难为双足机器人而实现强大的步行。在这里，我们描述了最简单的平衡控制器，该控制器可导致稳健行走，以实现线性倒置的摆（LIP）模型。主要思想是使用人体速度的线性函数来确定下一个脚放置，我们称之为线性脚放置控制（LFPC）。通过使用Poincaré映射，得出了平衡标准，这表明当速度反馈系数位于一定范围内时，LFPC是稳定的。当步进更快的速度时，该范围要大得多，这表明“更快的步进速度，更易于平衡”。我们表明，可以通过调整LFPC中的控制器参数来生成各种步态。特别是，发现了一个死力控制器，可以在仅一步之内导致稳态行走。通过MATLAB模拟以及2D和3D步行的V-REP模拟来验证LFPC的有效性。 LFPC的主要特征是它的简单性和固有的鲁棒性，这可能有助于我们了解如何在动态步行中保持平衡的本质。
Humans can balance very well during walking, even when perturbed. But it seems difficult to achieve robust walking for bipedal robots. Here we describe the simplest balance controller that leads to robust walking for a linear inverted pendulum (LIP) model. The main idea is to use a linear function of the body velocity to determine the next foot placement, which we call linear foot placement control (LFPC). By using the Poincaré map, a balance criterion is derived, which shows that LFPC is stable when the velocity-feedback coefficient is located in a certain range. And that range is much bigger when stepping faster, which indicates "faster stepping, easier to balance". We show that various gaits can be generated by adjusting the controller parameters in LFPC. Particularly, a dead-beat controller is discovered that can lead to steady-state walking in just one step. The effectiveness of LFPC is verified through Matlab simulation as well as V-REP simulation for both 2D and 3D walking. The main feature of LFPC is its simplicity and inherent robustness, which may help us understand the essence of how to maintain balance in dynamic walking.
