Walking With Arm Swinging and Pelvis Rotation Generated With the Relative Angular Acceleration
| Autor: | Akinori Miyata, Sho Miyahara, Dragomir N. Nenchev |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Physics
0209 industrial biotechnology Angular acceleration Control and Optimization Mechanical Engineering Biomedical Engineering 020207 software engineering Angular velocity 02 engineering and technology Swing Rotation Computer Science Applications law.invention Human-Computer Interaction Acceleration 020901 industrial engineering & automation Artificial Intelligence Control and Systems Engineering Control theory law 0202 electrical engineering electronic engineering information engineering Computer Vision and Pattern Recognition Wrench Relative angular momentum |
| Zdroj: | IEEE Robotics and Automation Letters. 5:151-158 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2019.2948529 |
| Popis: | A natural-looking arm swinging in biped locomotion can be generated by appropriately controlling the quantities derived from the momentum equilibrium principle such as the rate of change of the relative angular momentum or the relative angular acceleration (RAA). The arm swinging compensates completely the undesirable yaw moment generated by the swing leg. The RAA control input can also be used to control the angular excursion of the pelvis that contributes to the compensation of the yaw moment, either in a passive or in an active way. It is shown that by varying the intensities of the arm swinging and the pelvis rotation, human-like gaits can be easily generated. The yaw-moment compensation strategies are implemented with a recently developed walking controller that distributes the body wrench with the so-called virtual repellent point (VRP) generalized inverse (VRP-GI). This controller is time-efficient since iterative computations are avoided. The performance of the controller in dynamic walking with arm swinging and passive/active pelvis rotation is confirmed via simulations. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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