无动力双足步行机器人控制策略与算法

Control strategies and algorithms for passive compass-like biped robot

本文研究无动力双足步行机器人的建模、分析与控制问题.基于能量的控制增加了机器人行走极限环的稳定性、鲁棒性,扩大了极限环的收敛域;角度不变控制使机器人的稳定行走步态摆脱了地面倾斜角度的限制;把基于能量的控制与角度不变控制结合起来,可以实现在不同倾斜角度地面上行走模式的切换.基于能量的行走平均速度控制方法在平均速度与目标能量之间建立了联系,能使机器人的行走产生新的稳定步态.最后,对无动力双足步行机器人的研究前景做了展望.

The modeling and control for the compass-like biped robot are studied through analysis and numerical simulation. The energy-based control strategy is presented to improve the stability and robustness of the biped locomotion and extend the attraction region of the limit cycle. The slope-invariance control law is then designed to make the biped locomo- tion invariable to different slopes. Switching between different models for different slopes can be realized by combining the slope-invariance control law with the energy-based control strategy. The average-speed control based on the desired-energy control relates the average moving speed with the desired energy level and introduces a new type of stable limit cycle in the robot＇s walking. Finally, the future development of the control of compass gait biped is discussed.