双足机器人步态控制研究方法综述

Survey on Gait Control Strategies for Biped Robot

概括地介绍了双足机器人步态控制领域内的主要研究思路.详细阐述了基于双足动力学特征的3种建模方法,包括倒立摆模型、被动步态模型、质量弹簧模型的特点.另外讨论了两种常用的约束条件(稳定判据与能量约束)和3种智能控制方法(神经元理论、模糊逻辑与遗传算法)在双足机器人步态控制中的研究情况.

As humanoid robots shift from research lab to human living environment, biped robots play a more important role in recent research Peoples are attracted by biped robots for the difficulties in gait control since their dynamic equations are high-order highly-coupled and nonlinear This paper presented the basic concepts in biped gait and major research methods in the filed of biped gait optimization and control Characters of three major models including inverted pendulum, passive gait model and mass-spring model are thoroughly discussed Advantages and disadvantages of all these three models are exhibited by comparison Followed with it, the two kinds of usually used constraints, stability criterion and energy constraint are introduced with abundant examples For stability criterion, zero moment point (ZMP) criterion as the most useful constraints in biped gait generation research is emphasized Finally three intelligent control methods (neuron network, fuzzy logic and genetic algorithm) with their combination methods (fuzzy neuron network, genetic neuron network and so on) were introduced at the end of this paper