面向双足被动步行机器人周期步态规划及混沌控制的动能成型方法的改进研究

发布时间：2018-04-08 18:52

本文选题：双足机器人　切入点：被动步行　出处：《西南交通大学》2016年硕士论文

【摘要】：与传统的双足步行机器人相比,双足被动步行机器人具有行走能量利用效率高,具有仿生学行走特征等优点,目前已经成为双足步行机器人研究领域中的一个热点方向。针对双足被动步行机器人的周期步态规划问题,即在保持双足机器人被动行走的特点下,进一步提高机器人的行走速度的问题,已经提出了多种方法,动能成型方法则是其中一种新的、有效的控制方法。混沌是一种非线性系统中普遍存在的动力学行为。双足被动步行机器人作为一种典型的强非线性系统,同样存在着混沌现象。通常认为混沌会引起机器人的倾倒,对于双足被动步行机器人系统来说是有害的。因此,需要抑制混沌步态,即需要实施混沌控制；然而,近年来的研究发现人类行走过程中也存在着混沌步态,因此,激发混沌,利用双足被动步行机器人中的混沌又成为研究的热点。总之,混沌控制和反控制是双足被动步行机器人设计中的重要问题。本文重点研究面向双足被动步行机器人的动能成型方法。主要研究工作和结论如下：1、在充分研究现有面向双足被动步行机器人的动能成型方法基础上,对动能成型方法进行了改进。通过构造动能函数时引入初始相位,提出了一种新的动能函数的构造方法。为本文后续的研究工作奠定了基础。2、针对双足被动步行机器人的周期步态规划问题,利用穷举法可以确定出动能函数的最优初始相位的取值。通过数值仿真计算验证了改进的动能成型方法能够使系统获得更高的步行速度。研究了最优初始相位值与斜坡角度之间的关系、对动能成型方法控制效果的影响。研究了改进的动能成型方法施控下系统会出现的分岔现象。3、针对双足被动步行机器人的混沌控制和反控制问题,从能量的角度出发确定出了适用于构造动能函数最优初始相位值取值和幅值参数,实现了基于动能成型方法的双足被动步行机器人混沌控制和反控制。数值仿真结果验证了所提出控制方法的有效性。对动能成型方法在被动步行机器人混沌与反控制中的优缺点和控制过程中出现的现象进行了分析,对面向混沌控制与反控制问题与面向周期步态规划问题的构造动能函数初始相位值取值差异进行了分析和讨论。
[Abstract]:Compared with the traditional biped walking robot, biped passive walking robot has the advantages of high energy utilization efficiency and biped walking characteristics, which has become a hot research field in the field of biped walking robot.Aiming at the problem of periodic gait planning of biped passive walking robot, that is, to further improve the walking speed of biped robot under the characteristics of passive walking, several methods have been proposed.Kinetic energy forming is one of the new and effective control methods.Chaos is a common dynamic behavior in nonlinear systems.As a typical strongly nonlinear system, biped passive walking robot also has chaotic phenomena.It is generally believed that chaos will cause the robot to topple, which is harmful to the biped passive walking robot system.Therefore, it is necessary to suppress chaos gait, that is, to implement chaos control. However, recent studies have found that chaotic gait also exists in human walking process.Chaos in biped passive walking robot has become a hot research topic.In short, chaos control and anti-control are important problems in the design of biped passive walking robot.This paper focuses on the kinetic energy forming method for biped passive walking robot.The main research work and conclusions are as follows: 1. Based on the existing kinetic energy forming method for biped passive walking robot, the kinetic energy forming method is improved.By introducing the initial phase into the construction of kinetic energy function, a new method of constructing kinetic energy function is proposed.In order to solve the periodic gait planning problem of biped passive walking robot, the optimal initial phase of the action energy function can be determined by exhaustive method.The numerical simulation results show that the improved kinetic energy forming method can make the system achieve higher walking speed.The relationship between the optimal initial phase value and the slope angle is studied, and the effect of the kinetic energy forming method on the control effect is studied.The bifurcation phenomenon of the system under the control of the improved kinetic energy molding method is studied. The chaos control and anti-control of biped passive walking robot are studied.From the point of view of energy, the optimal initial phase values and amplitude parameters for constructing kinetic energy function are determined, and the chaos control and anti-control of biped passive walking robot based on kinetic energy forming method are realized.Numerical simulation results verify the effectiveness of the proposed control method.The advantages and disadvantages of kinetic energy forming method in chaos and anti-control of passive walking robot and the phenomena in the control process are analyzed.The difference of initial phase values of kinetic energy function for chaos control and anti-control problem and periodic gait programming problem is analyzed and discussed.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

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