研究论文
移动踏脚石双足行走的鲁棒约束
二次规划控制器在有界模型误差下执行时变落脚、转矩及接触力约束；RABBIT双足模型的数值结果包括最高达机器人质量47%的未知躯干载荷。
核查日期 2026-11-05 · 已核查来源与书目信息
- 原文标题
- Optimal Robust Time-Varying Safety-Critical Control With Application to Dynamic Walking on Moving Stepping Stones
- 发布机构
- American Society of Mechanical Engineers
- 作者
- Quan Nguyen, Koushil Sreenath
- DOI
- 10.1115/dscc2016-9910
- 会议论文集发布日期
- 2016-10-12
- 原文语言
- en
- 原始来源国家
- US
- 版本
- Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
- 访问条件
- 公开书目信息与摘要
- 出版状态
- 已发布
资料概述
二次规划控制器在有界模型误差下执行时变落脚、转矩及接触力约束；RABBIT双足模型的数值结果包括最高达机器人质量47%的未知躯干载荷。
使用与审查
所审证据为数值分析或仿真；实体机器人行为、感知失效及实现时序仍需单独确认。
来源与版本
Optimal Robust Time-Varying Safety-Critical Control With Application to Dynamic Walking on Moving Stepping Stones ↗
American Society of Mechanical Engineers · Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
Publisher-deposited abstract and distinct print2016-10-12/online2017-02-15 dates checked; landing403. Physical robot experiment not claimed.