论文标题
使用无香的转换对腿部运动的随机稳定性分析
Stochastic stability analysis of legged locomotion using unscented transformation
论文作者
论文摘要
在此手稿中，我们提出了一种新的方法，用于估计使用无气体转换的亚稳态腿系统的随机稳定性特征。此类系统中的稳定性分析的先前方法通常需要高维状态空间离散化和广泛的初始条件，从而产生了显着的计算复杂性。我们的方法旨在通过降低系统的维度并利用无香的转换来估计输出分布来减轻此问题。这项技术使我们能够说明多种不确定性和高维系统动力学来源，同时利用噪声统计的先验知识来告知实验初始条件的选择。结果，我们的方法可以通过更少的实验对控制器性能和参数依赖性分析进行有效评估。为了证明我们提出的方法的疗效，我们将其应用于一维料斗和使用混合零动力学控制器的一维料斗和不足的两足动物行走模拟。
In this manuscript, we present a novel method for estimating the stochastic stability characteristics of metastable legged systems using the unscented transformation. Prior methods for stability analysis in such systems often required high-dimensional state space discretization and a broad set of initial conditions, resulting in significant computational complexity. Our approach aims to alleviate this issue by reducing the dimensionality of the system and utilizing the unscented transformation to estimate the output distribution. This technique allows us to account for multiple sources of uncertainty and high-dimensional system dynamics, while leveraging prior knowledge of noise statistics to inform the selection of initial conditions for experiments. As a result, our method enables the efficient assessment of controller performance and analysis of parametric dependencies with fewer experiments. To demonstrate the efficacy of our proposed method, we apply it to the analysis of a one-dimensional hopper and an underactuated bipedal walking simulation with a hybrid zero dynamics controller.
