摘要
为解决机器人的侧向平衡问题,同时为使机器人的行走空间由二维扩展到三维,确立了可以侧向周期稳定偏转的有弹性脚的欠驱动步行机器人模型。根据混合动力系统的特点,建立了侧向摆动方程及脚碰撞地面的方程,并利用数值仿真得到了不同初始状态下的稳定极限环。根据运动状态分析,找到了弹性脚的欠驱动步行机器人所允许的侧向偏转范围。施加基于能量的控制可以消除摆动过程中出现的干扰,使欠驱动步行机器人回归到稳定状态,稳定的侧向摆动保证了欠驱动步行机器人的稳定行走。
In order to solve the problem of the lateral balance of the robot and expand the walking space into 3D dimension, a passive biped robot model with elastic feet, periodic and stable lateral motion, is established. On the basis of hybrid dynamical system charac- teristics, equations on the lateral swing and the collision between the feet and the ground are proposed in this paper. Some numerical simulations were carried out and the obtained results deonstrate stable limit cycles with different initial conditions. By analyzing the movement state, the lateral swing scope of the passive biped robot model was found. Applying the control based energy, the disturb- ance during the lateral motion can he eliminated, which makes the passive biped robot model return to the stable state. Furthermore, the stable lateral motion ensures the walking stability of the passive biped robot.
出处
《控制工程》
CSCD
北大核心
2012年第3期482-485,共4页
Control Engineering of China
基金
国家高技术研究发展计划(863计划)资助项目(2006AA04Z251)
国家自然科学基金资助项目(60974067)
关键词
侧向平衡
侧向偏转
弹性脚
基于能量的控制
lateral balance
lateral motion
elastic feet
control based on energy
