用简化模型设计稳定行走，让机器人走路更稳更快。
A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics
- 通过构建简化模型的零动力学流形，实现对全阶模型的控制。
- 简化模型的稳定周期轨道可保证全阶系统稳定运行。
- 适合研究机器人步态设计与控制理论的学者参考。
简化阶模型（ROM）能有效合成足式机器人的动态步态，但缺乏基于全阶模型（FOM）进行步态设计时所具有的形式化保障，例如混合零动力学方法。本文通过分层控制视角，旨在统一这两种方法。具体而言，我们建立了在何种条件下，基于运动学的简化模型可产生全阶混合动力系统的稳定行走。为此，给定一个简化模型，我们构造了一个编码其行为的零动力学流形；控制器可将全阶模型驱动至该流形，从而形成混合零动力学。我们证明：若简化模型中存在稳定周期轨道，则全阶模型的混合零动力学及其系统动态均具有输入-状态稳定性。该结论在基于线性倒立摆简化模型与五连杆平面步行全阶模型的仿真中得到验证。
原文摘要 · Abstract (English)
Reduced-order models (ROMs) provide a powerful means of synthesizing dynamic walking gaits on legged robots. Yet this approach lacks the formal guarantees enjoyed by methods that utilize the full-order model (FOM) for gait synthesis, e.g., hybrid zero dynamics. This paper aims to unify these approaches through a layered control perspective. In particular, we establish conditions on when a ROM of locomotion yields stable walking on the full-order hybrid dynamics. To achieve this result, given an ROM we synthesize a zero dynamics manifold encoding the behavior of the ROM -- controllers can be synthesized that drive the FOM to this surface, yielding hybrid zero dynamics. We prove that a stable periodic orbit in the ROM implies an input-to-state stable periodic orbit of the FOM's hybrid zero dynamics, and hence the FOM dynamics. This result is demonstrated in simulation on a linear inverted pendulum ROM and a 5-link planar walking FOM.
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