線形倒立振子モデルに基づく脚式ロボットの動的歩行制御
Dynamic Walkng of Legged Machines
線形倒立振子モデルを用い、高さ・前進速度・バランスの3制御に分割して二足歩行を安定化させ、シミュレーションで200歩以上の動的歩行を実現した。
分類: cs.RO
原文アブストラクト
Locomotion of legged machines faces the problems of model complexity and computational costs. Algorithms based on complex models and/or reinforcement learning exist to solve the walking control task. In this project, we aim to develop a bipedal walking control system based on a simple model the Linear Inverted Pendulum model. In order to simplify the complex process of controlling legged locomotion, we make use of the technique of splitting the control into three parts as height control, forward velocity control and balance control. The forward velocity of the body has a linear relationship with the foot placement, therefore we use a linear function to realise foot placement. Our control system achieves stable walking gait in a simulated environment, where our bipedal robot walks more than 200 steps with a cyclic pattern in a stable, dynamic and almost natural manner. The experimental data are presented and analysed.