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No need for a body model: Positive velocity feedback for the control of an 18-DOF robot walker

机译:无需人体模型:正速度反馈可控制18自由度机器人助步器

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摘要

In a multilegged walking robot several legs usually have ground contact and thereby form a closed kinematic chain. The control of such a system is generally assumed to require the explicit calculation of the body kinematics. Such a computation requires knowledge concerning all relevant joint angles as well as the segment lengths. Here, we propose a biologically inspired solution that does not need such a body model. This is done by using implicit communication through the body mechanics (embodiment) and a local positive velocity feedback strategy (LPVF) on the single joint level. In this control scheme the locally measured joint velocity of an elastic joint is fed into the same joint during the next time step to maintain the movement. At the same time, an additional part of this joint controller observes the mechanical joint power to confine the positive feedback. This solution does not depend on changes of the geometry, e.g. length of individual segments, and allows for a simple solution of negotiation of curves. The principle is tested in a dynamics simulation on a six-legged walker and, for the first time, also on a real robot.
机译:在多腿步行机器人中,几条腿通常与地面接触,从而形成一条闭合的运动链。通常假定这种系统的控制需要对人体运动学进行显式计算。这种计算需要有关所有相关关节角度以及线段长度的知识。在这里,我们提出了一种生物学启发的解决方案,不需要这种人体模型。这是通过使用人体力学(实施例)的隐式通信和单关节水平上的局部正速度反馈策略(LPVF)来完成的。在这种控制方案中,在下一时间步中,将局部测量的弹性关节的关节速度馈入同一关节,以保持运动。同时,该关节控制器的另一部分观察机械关节功率以限制正反馈。该解决方案不取决于几何形状的变化,例如各个段的长度,并允许简单的曲线协商解决方案。该原理已在六足助行器的动力学仿真中进行了测试,并且首次在真实的机器人上进行了动力学仿真。

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