论文标题
技术报告：高度动态双皮子的新跳跃控制器
Technical Report: A New Hopping Controller for Highly Dynamical Bipeds
论文作者
论文摘要
我们提出了攻击角度控制角度，这是一种新型的控制策略，用于髋关节电动的Penn Jerboa。通过在径向方向触地得分时对齐大多数速度，通过对齐的大部分速度来抵消阻尼的能量损失，并且通过使用髋关节扭矩将其控制到目标角动量来控制前AFT速度。控制策略导致高度不对称的腿角轨迹，从而避免了困扰髋关节驱动滑动的牵引问题。使用一系列假设，我们找到了近似近似值的固定点的分析表达式，将设计参数与稳态步态性能相关联。硬件机器人展示了稳定的运动，速度范围从0.4 m/s到2.5 m/s（2腿长/s至12.5腿长度/s），高度范围从0.21 m到0.27 m至0.27 m（1.05腿长长度至1.35腿长）。通过分析预测，经验试验的性能很好地近似。
We present angle of attack control, a novel control strategy for a hip energized Penn Jerboa. The energetic losses from damping are counteracted by aligning most of the velocity at touchdown in the radial direction and the fore-aft velocity is controlled by using the hip torque to control to a target angular momentum. The control strategy results in highly asymmetric leg angle trajectories, thus avoiding the traction issues that plague hip actuated SLIP. Using a series of assumptions we find an analytical expression for the fixed points of an approximation to the hopping return map relating the design parameters to steady state gait performance. The hardware robot demonstrates stable locomotion with speeds ranging from 0.4 m/s to 2.5 m/s (2 leg lengths/s to 12.5 leg lengths/s) and heights ranging from 0.21 m to 0.27 m (1.05 leg lengths to 1.35 leg lengths). The performance of the empirical trials is well approximated by the analytical predictions.
