基于质心运动状态的双足机器人欠驱动步行稳定控制

发布时间：2018-11-20 10:27

【摘要】：针对双足机器人欠驱动步行稳定控制问题,提出一种基于机器人质心(Co M)运动状态的前馈控制策略.首先,根据步行速度与步行稳定性的关系,提出一种基于步行速度的欠驱动步行稳定性直观表述并给予数学定义:如果机器人步行速度能够始终收敛于一个已被证明可维持步行的速度,则机器人步行处于稳定状态;然后,基于该直观表述的数学定义和人类变速步行时的步态特征,提出一种基于质心运动状态的前馈控制策略,控制策略以机器人质心水平速度作为系统输出,通过控制质心在单个步行周期内的位移,实现对质心水平运动速度的控制,进而实现稳定步行;最后,在混凝土和木板地面上,成功实现了平均步行速度0.178 m/s、步幅为腿长0.31倍的欠驱动步行.试验结果表明:所提出的控制策略能够通过控制质心对理想速度的跟踪,实现欠驱动稳定步行.
[Abstract]:A feedforward control strategy based on (Co M) motion state of robot mass center is proposed to solve the problem of underactuated walking stability control of biped robot. First, according to the relationship between walking speed and walking stability, This paper presents an intuitive description of underactuated walking stability based on walking speed and gives a mathematical definition: if the walking speed of a robot can always converge to a speed that has been proved to be able to maintain walking, the robot walking is in a stable state; Then, based on the mathematical definition of the intuitionistic expression and the gait characteristics of human walking at variable speeds, a feedforward control strategy based on the motion state of the centroid is proposed. The control strategy takes the horizontal velocity of the robot centroid as the output of the system. By controlling the displacement of the centroid in a single walking cycle, the horizontal motion velocity of the centroid is controlled, and then the stable walking is realized. Finally, the average walking speed of 0.178 m / s is achieved on the concrete and plank floor, and the underactuated walking with a stride of 0.31 times the length of the leg is achieved. The experimental results show that the proposed control strategy can realize the underactuated stable walking by controlling the centroid tracking the ideal velocity.
【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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