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Reachability and Real-Time Actuation Strategies for the Active SLIP Model.

机译:Active SLIP模型的可达性和实时驱动策略。

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摘要

Running and hopping follow similar patterns for different animals, independent of the number of legs employed. An aerial phase alternates with a ground contact phase, during which the center of mass moves as if a spring were compressed and then extended to recover stored elastic energy. Hence, consisting of a point mass mounted on a massless spring leg, the Spring Loaded Inverted Pendulum (SLIP) is a prevalent model for analyzing running and hopping.;In this work we consider an actuated version of the SLIP model, with a series elastic actuator added to the leg, serving the purposes of adding/removing energy to/from the system and of modifying dynamics during stance, toward achieving non-steady locomotion on varying terrain. While the SLIP model has been a topic of research in legged locomotion for several decades, studies on the effect of actuation on the system's behavior are still not complete.;The goal of this thesis is to explore how a series elastic actuator applied to the SLIP model's leg can change the system's dynamics. This, in turn, enables a variety of long-term planning strategies for using limited footholds and design non-steady gaits while simultaneously recovering from unexpected perturbations, both sensorial and due to a limited knowledge of the terrain profile.;We principally investigate how, through actuation, we can solve partially or completely the system's equations of motion, to enforce a desired trajectory and reach a desired state. We also determine the reachable state space of the model using several different actuation strategies, investigating the variation of the reachable set with respect to particular actuator motions and providing relationships between local actuator displacements throughout stance and location of the reached apex state. We then propose a control strategy based on graphical and numerical studies of the reachability space to drive the system to a desired state, with the ability to reduce the effects of sensing errors and disturbances happening at landing as well as during ground contact.
机译:对于不同的动物,奔跑和跳跃遵循相似的模式,而与所用腿的数量无关。空中阶段与地面接触阶段交替,在此期间,质心移动,就好像弹簧被压缩,然后伸展以恢复存储的弹性能。因此,弹簧负载倒立摆(SLIP)由安装在无质量弹簧腿上的点质量组成,是一种用于分析运行和跳跃的流行模型。在这项工作中,我们考虑了具有一系列弹性的SLIP模型的驱动版本在腿上增加了执行器,用于在系统中添加能量/从系统中移除能量,以及在站立过程中修改动力,以在变化的地形上实现非稳定的运动。尽管SLIP模型一直是腿部运动研究的一个主题,但关于致动对系统行为的影响的研究仍未完成。;本论文的目的是探索如何将一系列弹性致动器应用于SLIP。模型的腿可以改变系统的动力学。反过来,这可以启用各种长期规划策略,以使用有限的立足点和设计不稳定的步态,同时从感官和由于对地形的了解有限而从意料之外的扰动中恢复过来。;我们主要研究如何,通过致动,我们可以部分或完全求解系统的运动方程,以实现所需的轨迹并达到所需的状态。我们还使用几种不同的致动策略来确定模型的可到达状态空间,研究可到达集合相对于特定执行器运动的变化,并提供整个姿势和到达顶点状态的位置之间的局部执行器位移之间的关系。然后,我们基于可到达性空间的图形和数值研究提出一种控制策略,以将系统驱动至所需状态,并能够减少在着陆以及地面接触时发生的感应错误和干扰的影响。

著录项

  • 作者

    Piovan, Giulia.;

  • 作者单位

    University of California, Santa Barbara.;

  • 授予单位 University of California, Santa Barbara.;
  • 学科 Robotics.;Electrical engineering.;Mechanical engineering.
  • 学位 Ph.D.
  • 年度 2015
  • 页码 145 p.
  • 总页数 145
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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