Significant research interest has recently been attracted to the study of bipedal robots due to the wide variety of their potential applications.In reality,bipedal robots are often required to perform gait transitions...Significant research interest has recently been attracted to the study of bipedal robots due to the wide variety of their potential applications.In reality,bipedal robots are often required to perform gait transitions to achieve flexible walking.In this paper,we consider the gait transition of a five-link underactuated three-dimensional(3 D)bipedal robot,and propose a two-layer control strategy.The strategy consists of a unique,event-based,feedback controller whose feedback gain in each step is updated by an adaptive control law,and a transition controller that guides the robot from the current gait to a neighboring point of the target gait so that the state trajectory can smoothly converge to the target gait.Compared with previous works,the transition controller is parameterized and its control parameters are obtained by solving an optimization problem to guarantee the physical constraints in the transition process.Finally,the effectiveness of the control strategy is illustrated on the underactuated 3 D bipedal robot.展开更多
文摘设计了一种适用于三角转换式双驱动足非共振压电直线电机的驱动电路。该驱动电路采用PSo C3作为信号发生器,产生4路相位差为90的正弦波信号,再经过由OP07和PA42构成的两级线性电压放大电路以及由2SC5200和2SA1943构成的功率放大电路后,输出大功率的偏置信号,实现电机运行。同时,通过对电路幅频特性曲线图的分析,研究了自激振荡的产生与防止措施,并针对高频特性下出现的交越失真问题,提出了甲乙类单电源互补对称功率放大电路的方案。实验结果表明,该驱动电路能输出理想的正弦信号驱动电机稳定运行,其输出电压(0~120 V)与驱动频率(0~2 k Hz)均可进行独立连续调节,具有功率大、精度高的特点。
基金Project supported by the National Natural Science Foundation of China(Nos.91748126,11772292,and 51521064)
文摘Significant research interest has recently been attracted to the study of bipedal robots due to the wide variety of their potential applications.In reality,bipedal robots are often required to perform gait transitions to achieve flexible walking.In this paper,we consider the gait transition of a five-link underactuated three-dimensional(3 D)bipedal robot,and propose a two-layer control strategy.The strategy consists of a unique,event-based,feedback controller whose feedback gain in each step is updated by an adaptive control law,and a transition controller that guides the robot from the current gait to a neighboring point of the target gait so that the state trajectory can smoothly converge to the target gait.Compared with previous works,the transition controller is parameterized and its control parameters are obtained by solving an optimization problem to guarantee the physical constraints in the transition process.Finally,the effectiveness of the control strategy is illustrated on the underactuated 3 D bipedal robot.
