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传统的单足跳跃机器人高度控制多采用基于状态的控制方法,这种方法由于使用位置传感器,机械系统和控制系统都较为复杂.本文提出了一种只使用触地开关的基于时间事件的控制方法,简化了系统的设计.建立了包含气动特性的动力学模型,通过仿真分析了该控制方法的特点,在机器人样机上验证了算法的有效性.仿真和实验结果表明基于时间事件控制的机器人在保证系统具有相同稳定范围、收敛速度的同时,比基于状态事件控制的机器人更简单、跳跃高度调节更灵活.
The traditional single legged robot height control mostly uses state-based control method, which is more complicated due to the use of position sensor, mechanical system and control system.This paper presents a time-based control method using only touch switch , Which simplifies the design of the system.A dynamic model with aerodynamic characteristics is established.The characteristics of the control method are analyzed by simulation and the effectiveness of the algorithm is verified on a robot prototype.The simulation and experimental results show that the robot based on time- The system is guaranteed to have the same stable range, convergence speed, simpler than the robot based on state-based event control and more flexible adjustment of the jump height.