ソルテーションマトリクスを活用したロバスト二足歩行の歩容最適化
Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization
ハイブリッドゼロダイナミクスにソルテーションマトリクスを組み込み、そのノルムとトルクを同時最小化することで、よりロバストな二足歩行歩容を生成し、シミュレーションと実機で検証した。
著者: Maegan Tucker, Noel Csomay-Shanklin, Aaron D. Ames
分類: cs.RO
原文アブストラクト
The ability to generate robust walking gaits on bipedal robots is key to their successful realization on hardware. To this end, this work extends the method of Hybrid Zero Dynamics (HZD) -- which traditionally only accounts for locomotive stability via periodicity constraints under perfect impact events -- through the inclusion of the saltation matrix with a view toward synthesizing robust walking gaits. By jointly minimizing the norm of the extended saltation matrix and the torque of the robot directly in the gait generation process, we demonstrate that the synthesized gaits are more robust than gaits generated with either term alone; these results are shown in simulation and on hardware for the AMBER-3M planar biped and the Atalante lower-body exoskeleton (both with and without a human subject). The end result is experimental validation that combining saltation matrices with HZD methods produces more robust bipedal walking in practice.
