高自由度双足机器人数学模型及步行控制研究

MATHEMATICAL MODELING FOR THE BIPED ROBOT WITH HIGH DEGREES OF FREEDOM AND THE GAIT CONTROL

基于ZMP理论及位姿矩阵,采用了相对重心以及相对坐标系的数学描述方法,对17自由度双足机器人步行稳定性控制进行数学建模研究．所建立的数学模型能够描述机器人稳定性控制．并经过Matlab数学计算和仿真研究,验证了所建立的模型可以描述双足机器人的步行规律,在理论上达到了双足机器人步行稳定性的控制目的．最后通过VC++把整个模型封装成一个可视化系统,便于将所研究的模型应用到实际的控制中,为未来机器人的实时控制的研究提供了技术支持．

The paper presents a mathematical modeling study on the gait stability control of a 17 degrees of freedom biped robot, based on ZMP theory and the Pose Transformation Matrix, with the mathematical description of relative center of gravity and relative reference frame. The proposed mathematical model can describe the stability control of robots. It is shown, by Matlab mathematical computation and emulation study, that this model can describe the walking rules of biped robots, which means that gait stability control of biped robots can be achieved. The whole model is encapsulated into a visual system by VC＋＋ so that the model can be brought under a practical control, thus providing a technical support for the study of real-time control of future robots.