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Anticipatory Control of Momentum for Bipedal Walking on Uneven Terrain.
Scientific Reports ( IF 3.8 ) Pub Date : 2020-01-17 , DOI: 10.1038/s41598-019-57156-6
Osman Darici 1, 2 , Hakan Temeltas 2 , Arthur D Kuo 1, 3
Affiliation  

Humans and other walking bipeds often encounter and compensate for uneven terrain. They might, for example, regulate the body's momentum when stepping on stones to cross a stream. We examined what to do and how far to look, as a simple optimal control problem, where forward momentum is controlled to compensate for a step change in terrain height, and steady gait regained with no loss of time relative to nominal walking. We modeled planar, human-like walking with pendulum-like legs, and found the most economical control to be quite stereotypical. It starts by gaining momentum several footfalls ahead of an upward step, in anticipation of the momentum lost atop that step, and then ends with another speed-up to regain momentum thereafter. A similar pattern can be scaled to a variety of conditions, including both upward or downward steps, yet allow for considerably reduced overall energy and peak power demands, compared to compensation without anticipation. We define a "persistence time" metric from the transient decay response after a disturbance, to describe how momentum is retained between steps, and how far ahead a disturbance should be planned for. Anticipatory control of momentum can help to economically negotiate uneven terrain.

中文翻译:

双脚行走在不平坦地形上的动量的预期控制。

人类和其他步行两足动物经常遇到并补偿不平坦的地形。例如,当他们踩石头穿越溪流时,它们可能会调节身体的动量。我们检查了做什么和看起来有多远,这是一个简单的最佳控制问题,在该问题中,控制前向动量以补偿地形高度的阶跃变化,并且相对于正常步行而言,步态得以恢复且没有时间损失。我们对摆姿势类似人的平面,类似人的步行进行建模,发现最经济的控制方法是定型的。首先,要获得动力,然后再向上迈出几步脚,这是因为期望在那一步之前失去动力,然后以另一种加速来结束,以在此后恢复动力。可以将类似模式缩放到各种条件,包括向上或向下步进,与没有预期的补偿相比,可大大降低总能量和峰值功率需求。我们从扰动后的瞬态衰减响应中定义了一个“持续时间”度量,以描述步幅之间如何保持动量以及应该为扰动计划多远。对动量的预期控制可以帮助经济地协商不平坦的地形。
更新日期:2020-01-17
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