Symmetry Method for Limit Cycle Walking of Legged Robots.

摘要

Dynamic steady-state walking or running gaits for legged robots correspond to periodic orbits in the dynamic model. The common method for obtaining such periodic orbits is conducting a numerical search for fixed points of a Poincare map. However, as the number of degrees of freedom of the robot grows, such numerical search becomes computationally expensive because in each search trial the dynamic equations need to be integrated. Moreover, the numerical search for periodic orbits is in general sensitive to model errors, and it remains to be seen if the periodic orbit which is the outcome of the search in the domain of the dynamic model corresponds to a periodic gait in the actual robot. To overcome these issues, we have presented the Symmetry Method for Limit Cycle Walking, which relaxes the need to search for periodic orbits, and at the same time, the limit cycles obtained with this method are robust to model errors. Mathematically, we describe the symmetry method in the context of so-called Symmetric Hybrid Systems, whose properties are discussed. In particular, it is shown that a symmetric hybrid system can have an infinite number of periodic orbits that can be identified easily. In addition, it is shown how control strategies need to be selected so that the resulting reduced order system still possesses the properties of a symmetric hybrid system. The method of symmetry for limit cycle walking is successfully tested on a 12-DOF 3D model of the humanoid robot Romeo.