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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.
In order to realize underactuated steady walking of biped robot based on real discontinuous ground, a variable step size walking control strategy is proposed based on adaptive feedforward control algorithm.First, according to the mapping of robot walking speed, stability and trajectory of centroid , A single-input-single-output adaptive feed-forward control algorithm based on centroid motion state is derived to realize the stable walking of the robot on the real ground.Secondly, from the perspective of walking humanity, in order to eliminate the ground discontinuity on the walking The stability of the under-walking biped robot is determined by changing the step-size and centroid-ideal tracking speed, and the steady walking control strategy of the under-walking biped robot is designed on the real discontinuous ground.Finally, the four-link robot model , And the robot prototype test on the wood and rubber mixed ground to verify the effectiveness of the variable step stability walking control strategy.The experimental results show that the variable step stability walking control strategy proposed in this paper can be implemented in the real non-continuous ground On the less driven stable walk.