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Controllo ottimale computazionale di un robot bipede
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ISBN10: 6208036526
ISBN13: 9786208036522
Publisher: Edizioni Sapienza
Published: Aug 31 2024
Pages: 60
Weight: 0.22
Height: 0.14 Width: 6.00 Depth: 9.00
Language: Italian
ISBN13: 9786208036522
Publisher: Edizioni Sapienza
Published: Aug 31 2024
Pages: 60
Weight: 0.22
Height: 0.14 Width: 6.00 Depth: 9.00
Language: Italian
I robot bipedi sono stati oggetto di ricerca per decenni, con l'obiettivo di assistere o sostituire l'uomo in compiti specifici. Lo studio di questi robot è fondamentale per comprendere la locomozione umana e migliorare le strategie di controllo per arti protesici e ortesi. Tuttavia, le sfide della progettazione includono: (1) l'instabilità dovuta alle articolazioni passive al contatto singolo piede-terreno; (2) le variazioni di configurazione durante la transizione tra le fasi della camminata - sotto-attuata durante l'appoggio singolo e sovra-attuata durante l'appoggio doppio; (3) i molteplici gradi di libertà (DOF); e (4) l'interazione con ambienti sconosciuti. Questo lavoro affronta le strategie di controllo ottimale computazionale offline per i robot bipedi basati sul punto zero-momento (ZMP). Applicando il controllo ottimale computazionale, esaminiamo l'impatto dei vincoli sulla locomozione, come il mantenimento del piede oscillante parallelo al suolo e il mantenimento del movimento dell'anca a un'altezza costante. Un metodo alle differenze finite traduce il problema del controllo ottimale infinito-dimensionale in uno subottimale finito-dimensionale, seguito dall'ottimizzazione dei parametri per ricavare traiettorie subottimali sotto vari vincoli.
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