Nonlinear predictive control applied to a biped walker with adjustable step length using a passive walking‐based reference generator

摘要

Summary >This paper presents the use of passive dynamics to generate the sagittal plane references for a biped walker. In order to achieve an adjustable gait width, a neural network reference generator, trained with passive walking data on different slopes, was applied. The control algorithm was implemented with an Nonlinear Model Predictive Control (NMPC) strategy, in order to perform multiple‐input multiple‐output reference tracking while maintaining balance. The main contributions of the present work are using a kneed passive walker model for reference generation, which creates gait profiles that are more natural than the compass gait model, presenting a low computational cost, since only the forward kinematic model is used, and enabling adjustable gait width, due to the use of a neural network trained with data from the passive walker. Simulation results using V‐REP (Virtual Robot Experimentation Platform) are presented, using a sagittal kneed walker with a torso and arms, demonstrating the effectiveness of the proposed method. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><Abstract Type =“Main”XML：Lang =“EN”XML：ID =“OCA2570-ABS-0001”> <标题类型=“main”>摘要</ title> >本文介绍了无源动力学的使用，为Biped Walker产生矢状平面参考。为了实现可调节的步态宽度，应用了在不同斜坡上的被动行走数据训练的神经网络参考发生器。控制算法用非线性模型预测控制（NMPC）策略实现，以便在保持平衡的同时执行多输入多输出参考跟踪。本作工作的主要贡献是使用kneed被动助行器模型用于参考生成，它创造了比罗盘步态模型更自然的步态配置文件，呈现低计算成本，因为只使用了前向运动模型，并启用可调步态宽度，由于使用与被动步行者的数据训练的神经网络。使用V-Rep（虚拟机器人实验平台）的仿真结果，使用带有躯干和臂的矢状牛皮助行李，展示所提出的方法的有效性。</ p> </摘要> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" >著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-27675/'>《Optimal Control Applications and Methods》</a> <b style="margin: 0 2px;">|</b><span>2020年第3期</span><b style="margin: 0 2px;">|</b><span>共19页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li > <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span><a href="https://www.zhangqiaokeyan.com/clc/1147.html" title="应用数学">应用数学;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=biped walker&option=203" rel="nofollow">biped walker;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=neural networks&option=203" rel="nofollow">neural networks;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=NMPC&option=203" rel="nofollow">NMPC;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=passive walking&option=203" rel="nofollow">passive walking;</a> </p> <div class="translation"> 机译：Biped Walker;神经网络;NMPC;被动行走; </div> 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period of base frequency for different stepper motors with specifically associated step lengths</a> <b>[P]</b> . <span> 外国专利：  DE10007201A1 </span> <span> . 2001-08-23</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：多个步进电动机的同步控制，涉及以一个基频周期触发不同的步进长度，用于具有特定关联步进长度的不同步进电动机 </span> </p> </li> <li> <div> <b>5. </b><a class="enjiyixqcontent" href="/patent-detail/06130434136271.html">Electronic component for e.g. receiver, has passive input impedance adjustment circuit with varactor whose capacitance is variably adjusted in operation based on control signal, which is applied to control input</a> <b>[P]</b> . <span> 外国专利：  DE102005044856A1 </span> <span> . 2007-03-22</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> 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