Virtual Model Control: An Intuitive Approach for Bipedal Locomotion

International Journal of Robotics Research - Tập 20 Số 2 - Trang 129-143 - 2001
Jerry Pratt, Chee–Meng Chew, Ann L. Torres, P. Dilworth, Gill A. Pratt1
1Leg Laboratory, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139, USA

Tóm tắt

Virtual model control is a motion control framework that uses virtual components to create virtual forces generated when the virtual components interact with a robot system. An algorithm derived based on the virtual model control framework is applied to a physical planar bipedal robot. It uses a simple set of virtual components that allows the robot to walk successfully over level terrain. This paper also describes how the algorithm can be augmented for rough terrain walking based on geometric consideration. The resulting algorithm is very simple and does not require the biped to have an extensive sensory system. The robot does not know the slope gradients and transition locations in advance. The ground is detected using foot contact switches. Using the algorithm, we have successfully compelled a simulated seven-link planar biped to walk blindly up and down slopes and over rolling terrain.

Từ khóa


Tài liệu tham khảo

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Thông tin xuất bản

International Journal of Robotics Research

Tập 20 Số 2

129-143

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