双足机器人步态规划与控制研究

发布时间：2018-03-21 02:07

本文选题：双足机器人　切入点：步态规划　出处：《吉林大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着人工智能产业化进程加快,机器人成为智能领域的一个重要研究方向。双足机器人由于自身的独特性和拟人性,相比其他机器人而言具有更好的环境适应能力。然而,双足机器人是一个复杂的内在不稳定系统,且在运动过程中易受到外界多种干扰,因此双足机器人步态规划与控制研究对实现机器人稳定行走具有重要的意义。本文以Aldebaran Robotics公司的双足机器人NAO为实验平台研究双足机器人的步态规划方法。在Aldebaran官方步态系统分析的基础上,采用三维线性倒立摆模型的步态规划算法实现了 NAO机器人稳定行走,并对其进一步改进,提高了机器人行走速度和动态性。论文主要研究内容如下:1、运动学分析及仿真。通过将NAO机器人简化成连杆模型,利用运动学分析求解出各关节的正运动学方程以及腿部的逆运动学方程。并基于MATLAB软件构建NAO机器人的运动学仿真模型。通过姿态实验,验证了所建立的运动学模型的准确性。2、步态规划。基于MATLAB构建的NAO机器人运动学模型对Aldebaran官方步态系统进行模拟分析。根据分析得到的结论,最终选定了三维线性倒立摆模型的方法对双足机器人NAO进行步态规划。此外,针对传统三维线性倒立摆模型步态规划方法中存在的问题,提出了一种步态周期范围内最大化单脚支撑阶段的改进方法,最后通过平台实验验证了该方法的有效性。3、平衡控制。针对机器人行走过程中存在偶尔失衡的问题,本文对模型进一步优化,同时采用卡尔曼滤波算法对质心运动轨迹进行估计,对倒立摆参数重新矫正。实验结果表明,与Aldebaran官方步态系统相比,本文采用的步态方法在动态性和抗扰性方面有较大的提高。
[Abstract]:With the acceleration of the industrialization of artificial intelligence, robot has become an important research direction in the field of intelligence. Biped robot has better adaptability to environment than other robots because of its own uniqueness and pseudo human nature. Biped robot is a complex internal unstable system, and is vulnerable to various external disturbances in the course of motion. Therefore, the research on gait planning and control of biped robot is of great significance to realize the stable walking of the robot. In this paper, the gait planning method of biped robot based on Aldebaran Robotics's biped robot NAO is studied in Aldebaran. Based on the official gait system analysis, The gait planning algorithm of three dimensional linear inverted pendulum model is used to realize the NAO robot walking stably, and further improvement is made. The main contents of this paper are as follows: 1, kinematics analysis and simulation. The NAO robot is simplified into a connecting rod model. The forward kinematics equation of each joint and the inverse kinematics equation of leg are solved by kinematics analysis. The kinematics simulation model of NAO robot is constructed based on MATLAB software. The accuracy of the kinematics model. 2, gait planning. The kinematics model of NAO robot based on MATLAB is used to simulate and analyze the official gait system of Aldebaran. Finally, the method of 3D linear inverted pendulum model is selected for gait planning of biped robot NAO. In addition, in view of the problems existing in the traditional gait planning method of 3D linear inverted pendulum model, This paper presents an improved method to maximize the support stage of one foot in the gait cycle range. Finally, the effectiveness of the method. 3, balance control is verified by platform experiments. In view of the problem of occasional imbalance in the walking process of the robot, an improved method is proposed. In this paper, the model is further optimized, and the trajectory of centroid motion is estimated by Kalman filter algorithm, and the parameters of inverted pendulum are corrected again. The experimental results show that, compared with Aldebaran official gait system, The gait method used in this paper has a great improvement in dynamic and immunity.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：R783.9

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