摘要
研究了半被动双足机器人的平面稳定行走控制及设计实现。采用欧拉-拉格朗日方法及动量矩守恒定律分别得到摆动腿摆动阶段的动力学方程及碰撞前后的切换模型。每个行走周期初始,在支撑腿脚后跟施加脉冲推力作为行走的动力源,通过求解摆动腿摆动阶段的线性化方程,获得脉冲推力的初值,采用二阶迭代学习控制算法对脉冲推力进行修正。在理论分析的基础上,分别在Matlab环境下及双足机器人实验装置中进行了仿真及实验研究。仿真及实验结果表明:和一阶迭代学习控制算法相比,文中所提算法具有更快的收敛速度,可以实现双足机器人平面上的稳定周期行走,具有稳定的极限环。且雅可比矩阵的特征值均位于单位圆内,满足系统的稳定条件。
The stable walking control and design implementation of a quasi-passive biped robot on level ground is studied. The equation of motion for the swing phase and the transition rule at heel-strike collision are derived by using the Euler-Lagrange method and the conservation of moment of momentum,respectively. An impulsive push is applied to the stance leg preferably immediately before heel-strike. The initial toe-off impulse is generated by solving the linearized differential equation of the swinging phase. Then the second-order iterative learning control（ ILC） algorithm is used to revise the value of the toe-off impulse. Based on theoretical analysis,computer simulations in Matlab and biped robot experimental tests are carried out to validate the effectiveness of the proposed algorithm. Simulation and experimental results show that the proposed algorithm can converge at a faster rate compared to the first-order ILC algorithm,it can realize the stable walking control on level ground for a biped robot,the stable limit circle is obtained and all the eigenvalues of the Jacobian matrix are inside the unit circle,so the stability condition is satisfied.
出处
《实验室研究与探索》
CAS
北大核心
2016年第11期47-50,55,共5页
Research and Exploration In Laboratory
基金
国家自然科学基金资助项目(11172047)
北京信息科技大学教改项目(2016JGYB09)
关键词
双足机器人
半被动行走
脉冲控制
二阶迭代学习控制
biped robot
quasi-passive walking
impulsive control
second-order iterative learning control
