水平面内の曲線経路を走行する脚式ロコモーションのための曲線追従制御
Curve Tracking Control for Legged Locomotion in Horizontal Plane
脚式走行モデル(LLS)において、脚の配置と弾性を調整することで重心が水平面内の曲線経路を安定に追従できるハイブリッドフィードバック制御則を導出した論文。
著者: F. Zhang
分類: cs.RO
原文アブストラクト
We derive a hybrid feedback control law for the lateral leg spring (LLS) model so that the center of mass of a legged runner follows a curved path in horizontal plane. The control law enables the runner to change the placement and the elasticity of its legs to move in a desired direction. Stable motion along a curved path is achieved using curvature, bearing and relative distance between the runner and the curve as feedback. Constraints on leg parameters determine the class of curves that can be followed. We also derive an optimal control law that stabilizes the orientation of the runner's body relative to the velocity of the runner's center of mass.