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Computergestützte optimale Steuerung eines zweibeinigen Roboters
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ISBN10: 6208036496
ISBN13: 9786208036492
Publisher: Verlag Unser Wissen
Published: Aug 31 2024
Pages: 60
Weight: 0.22
Height: 0.14 Width: 6.00 Depth: 9.00
Language: German
ISBN13: 9786208036492
Publisher: Verlag Unser Wissen
Published: Aug 31 2024
Pages: 60
Weight: 0.22
Height: 0.14 Width: 6.00 Depth: 9.00
Language: German
Zweibeinige Roboter, die den Menschen bei bestimmten Aufgaben unterstützen oder ersetzen sollen, stehen seit Jahrzehnten im Mittelpunkt der Forschung. Die Erforschung dieser Roboter ist entscheidend für das Verständnis der menschlichen Fortbewegung und die Verbesserung der Kontrollstrategien für Prothesen und Orthesen. Zu den Herausforderungen bei der Konstruktion gehören jedoch unter anderem: (1) Instabilität aufgrund passiver Gelenke beim einfachen Fu -Boden-Kontakt; (2) Variationen in der Konfiguration beim Übergang zwischen Gehphasen - untersteuert bei einfacher Unterstützung und übersteuert bei doppelter Unterstützung; (3) mehrere Freiheitsgrade (DOFs); und (4) Interaktion mit unbekannter Umgebung. Diese Arbeit befasst sich mit rechnerischen Optimalsteuerungsstrategien für zweibeinige Roboter mit Null-Moment-Punkt (ZMP). Durch die Anwendung der rechnerischen Optimalsteuerung untersuchen wir die Auswirkungen von Beschränkungen auf die Fortbewegung, wie z. B. die Beibehaltung des Schwungfu es parallel zum Boden und die Beibehaltung der Hüftbewegung auf einer konstanten Höhe. Eine Finite-Differenzen-Methode übersetzt das unendlich-dimensionale Optimalsteuerungsproblem in ein endlich-dimensionales suboptimales Problem, gefolgt von einer Parameteroptimierung zur Ableitung suboptimaler Trajektorien unter verschiedenen Einschränkungen.
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