通过虚拟非完整约束，实现足部打滑时的稳定双足行走
Stable Walking for Bipedal Locomotion under Foot-Slip via Virtual Nonholonomic Constraints
- 引入虚拟非完整约束，显式建模足部打滑对步态的影响
- 在打滑条件下仍能保持周期性步态稳定，实测验证有效
- 适合研究复杂地形行走控制或机器人抗扰设计的学者
足部打滑是低摩擦或不确定地形上双足行走的主要不稳定性来源。传统控制方法通常假设无滑动接触，因此在发生打滑时性能下降。本文提出一种控制框架，通过虚拟非完整约束将打滑显式纳入运动模型，调节站立足的切向速度，同时与生成步态的虚拟完整约束兼容。所构建的闭环系统为包含连续摆动动力学和离散冲击事件的混合动力系统。采用非线性反馈律同时满足两类约束，为降阶行走动力学生成了兼容打滑的混合零动态流形。通过关联的庞加莱映射分析周期性步态稳定性，数值结果展示了在打滑条件下的稳定化效果。
原文摘要 · Abstract (English)
Foot slip is a major source of instability in bipedal locomotion on low-friction or uncertain terrain. Standard control approaches typically assume no-slip contact and therefore degrade when slip occurs. We propose a control framework that explicitly incorporates slip into the locomotion model through virtual nonholonomic constraints, which regulate the tangential stance-foot velocity while remaining compatible with the virtual holonomic constraints used to generate the walking gait. The resulting closed-loop system is formulated as a hybrid dynamical system with continuous swing dynamics and discrete impact events. A nonlinear feedback law enforces both classes of constraints and yields a slip-compatible hybrid zero dynamics manifold for the reduced-order locomotion dynamics. Stability of periodic walking gaits is characterized through the associated Poincaré map, and numerical results illustrate stabilization under slip conditions.
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