用磁流变阻尼器控制异构双腿机器人的仿真研究

Simulation of biped robot with heterogeneous legs controlled by magneto-rheological damper

介绍了磁流变阻尼器在异构双腿行走机器人中的新应用。首先给出了仿生腿选用MR阻尼器的依据,建立了修正的Sigmoid阻尼器模型;然后对阻尼器安装位置进行了优化;最后对BRHL进行了步态跟随优化及迭代学习控制仿真。结果表示,基于MR阻尼器控制的仿生腿能够很好的实现对人工腿的步态跟随,具有较好的仿人特性。

Magneto-rheological damper has great potential in semi-active control and is newly applied in the biped robot with heterogeneous legs （BRHL）. First the reason to the choice of MR damper for bionic leg is given and the Sigmoid model with modification is established in the article. Then the optimal design of fixing location for MR damper is given. In the end,the article gives the optimal simulation of gait following and the simulation of iterative learning control. The results indicate the bionic leg with MR damper can follow the gait of artificial leg well and has good humanoid characteristic.