Stability and agility： biped running over varied and unknown terrain

作     者：Yang YI Zhi-yun LIN 

作者机构：College of Electrical EngineeringZhejiang University 

出 版 物：《Frontiers of Information Technology & Electronic Engineering》 (信息与电子工程前沿（英文版）)

年 卷 期：2015年第16卷第4期

页      面：283-292页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：Project supported by the National Natural Science Foundation of China (No. 61175106) 

主　　题：Underactuated running biped Dynamic balance Varied and unknown terrain 

摘      要：We tackle the problem of a biped running over varied and unknown *** is a necessary skill for a biped moving fast,but it increases the challenge of dynamic balance,especially when a biped is running on varied terrain without terrain information(due to the difficulty and cost of obtaining the terrain information in a timely manner).To address this issue,a new dynamic indicator called the sustainable running criterion is *** main idea is to sustain a running motion without falling by maintaining the system states within a running-feasible set,instead of running on a periodic limit cycle gait in the traditional *** meet the precondition of the criterion,the angular moment about the center of gravity(COG) is restrained close to zero at the end of the stance *** to ensure a small state jump at touchdown on the unknown terrain,the velocity of the swing foot is restrained within a specific range at the end of the flight ***,the position and velocity of the COG are driven into the running-feasible set.A five-link biped with underactuated point foot is considered in *** is able to run over upward and downward terrain with a height difference of 0.15 m,which shows the effectiveness of our control scheme.