基于柔性关节的欠驱动平面双足机器人步态规划与控制

发布时间：2018-04-11 15:23

本文选题：欠驱动双足行走 + 姿态平衡控制　；参考：《浙江大学》2017年硕士论文

【摘要】：双足行走是腿足式机器人最重要的运动形式之一,快速稳定的行走能力对机器人的实际应用具有十分重要的意义。传统基于ZMP判据的在线规划方法已被广泛地运用于双足机器人的行走运动控制中。欠驱动行走作为双足行走的重要研究方向之一,与基于ZMP方法的双足行走的不同之处在它没有稳定的支撑域,行走运动具有更好的动态特性。本文基于平面双足欠驱动机器人实验平台,研究欠驱动行走的运动控制问题。通过采用平面五连杆简化模型,针对欠驱动行走提出了一种行走控制策略,并设计运动控制器。本文的主要贡献有:1.围绕欠驱动行走过程中身体姿态平衡问题,提出了反馈控制加前馈补偿的控制器设计方法,实现身体姿态的平衡控制。2.围绕欠驱动行走过程中摆动腿的运动控制与规划的问题,提出了以系统状态为自变量的运动规划方法,并基于柔性关节的动力学方程设计腿部运动控制器,实现摆动腿的轨迹跟踪。3.围绕欠驱动行走中的速度估计与控制问题,提出了行走速度的估计方法,融合传感器信息,对行走速度做出有效的估计。分析系统欠驱动量的动力学简化模型,提出了根据行走速度在线调整步行参数的速度控制方法,实现行走速度的稳定。
[Abstract]:Bipedal walking is one of the most important motion forms of legged robot. Rapid and stable walking ability is of great significance to the practical application of robot.The traditional online planning method based on ZMP criterion has been widely used in the movement control of biped robot.Underactuated walking is one of the important research directions of bipedal walking, which is different from bipedal walking based on ZMP method in that it has no stable support region, and the walking motion has better dynamic characteristics.Based on the experimental platform of planar biped underactuated robot, the motion control problem of underactuated walking is studied in this paper.By using the planar five-bar simplified model, a walking control strategy is proposed for underactuated walking, and a motion controller is designed.The main contribution of this paper is 1: 1.A controller design method based on feedback control and feedforward compensation is proposed to realize the balance control of body posture.In this paper, a motion planning method based on the state of the system is proposed to control and plan the motion of the swinging leg in the process of underactuated walking. The motion controller of the leg is designed based on the dynamic equation of the flexible joint.Track track of swinging leg. 3.Aiming at the problem of velocity estimation and control in underactuated walking, a method of velocity estimation is proposed, which combines sensor information and makes effective estimation of walking speed.This paper analyzes the dynamic simplified model of the underactuation of the system, and puts forward a speed control method to adjust the walking parameters online according to the walking speed to realize the stability of the walking speed.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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