面向非连续性地面的双足欠驱动步行稳定控制

发布时间：2018-10-25 16:10

【摘要】：为实现双足机器人在真实非连续地面上的欠驱动稳定步行,基于自适应前馈控制算法提出一种变步长稳定步行控制策略.首先,针对机器人步行速度、稳定性以及质心运动轨迹的映射关系,引出一种基于质心运动状态的单输入-单输出自适应前馈控制算法,实现机器人在真实地面上的稳定步行.其次,从步行仿人性的角度出发,为消除地面非连续性对步行稳定性的影响,通过改变步长和质心理想跟踪速度设计变步长稳定步行控制策略,实现欠驱动双足步行机器人在真实非连续地面上的稳定步行.最后,通过对四连杆机器人模型的数值仿真,以及在木板和橡胶混合地面上的机器人样机试验,验证变步长稳定步行控制策略的有效性.试验结果表明:本文提出的变步长稳定步行控制策略能够实现在真实非连续地面上的欠驱动稳定步行.
[Abstract]:In order to realize the underactuated stable walking of biped robot on real discontinuous ground, a variable step size stable walking control strategy based on adaptive feedforward control algorithm is proposed. Firstly, a single input-output adaptive feedforward control algorithm based on the motion state of centroid is presented to realize the robot's stable walking on the real ground in view of the mapping relationship of walking speed, stability and centroid trajectory of the robot. Secondly, in order to eliminate the influence of ground discontinuity on walking stability, a variable step stable walking control strategy is designed by changing the step size and the ideal tracking speed of centroid. The underactuated biped walking robot can walk steadily on the real discontinuous ground. Finally, the numerical simulation of the four-bar robot model and the experiment of the robot prototype on the plank and rubber mixed ground are carried out to verify the effectiveness of the variable step size stable walking control strategy. The experimental results show that the variable step size stable walking control strategy proposed in this paper can realize the underactuated stable walking on the real discontinuous ground.
【作者单位】：武汉大学动力与机械学院;
【基金】：国家自然科学基金(51675385)
【分类号】：TP242

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