SUMMARYThis paper focuses on robust control of a simplest passive model, which is established on a DCLF (discrete control Lyapunov function) -based control system, and presents gait transition method based on the study of purely passive walker. Firstly, the DCLF is introduced to stabilize walking process between steps exponentially by modulating the length of next step. Next, the swing leg trajectory from mid-stance position to foot-strike can be planned. Then the control law is calculated to resist external disturbance. Besides, an impulse is added just before foot-strike to realize a periodic walking pattern on flat or uphill ground. With walking terrain varying, the robot can transit to an adaptive walking gait in a few steps. With different push or pull disturbances acting on hip joint and the robot gait transiting on a continuously slope-changing downhill, the effectiveness of the presented DCLF-based method is verified using simulation experiments. The ability to walk on a changing environment is also presented by simulation results. The insights of this paper can help to develop a robust control method and adaptive walking of dynamic passive locomotion robots.

中文翻译：

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基于离散控制Lyapunov函数的半被动双足动态运动鲁棒控制

摘要本文重点研究了基于DCLF（离散控制Lyapunov函数）控制系统的最简单被动模型的鲁棒控制，并在研究纯被动步行者的基础上提出了步态转换方法。首先，引入 DCLF 通过调制下一步的长度以指数方式稳定步之间的步行过程。接下来，可以计划从中间站立位置到脚击的摆动腿轨迹。然后计算控制律以抵抗外部干扰。此外，在踩踏前添加一个脉冲，以实现在平坦或上坡地面上的周期性行走模式。随着步行地形的变化，机器人可以在几步内过渡到自适应步行步态。在不同的推拉扰动作用于髋关节和机器人在连续坡度变化的下坡上过渡的情况下，通过仿真实验验证了所提出的基于 DCLF 方法的有效性。模拟结果还展示了在不断变化的环境中行走的能力。本文的见解有助于开发动态被动运动机器人的鲁棒控制方法和自适应行走。