仿人机器人摆动脚落地碰撞补偿控制研究

Compensating Control Based on Swing Foot Locomotion Error of Humanoid Robot for Diminishing Impact

分析了仿人机器人摆动脚落地时的运动误差和摆动脚与地面的碰撞效应,提出了基于运动误差的摆动脚落地补偿控制策略.根据摆动脚距地面高度误差、摆动脚与支撑脚之间的步距误差,在线分级调整摆动腿髋、膝和脚踝关节前摆的运动角度,补偿摆动脚距地面高度和步距.样机实验证明,机器人摆动脚运动误差减小,实际落地时间趋近期望时刻,摆动脚与地面的碰撞冲击力减小且变化平缓,行走稳定性改善.

For diminishing the impact between swing foot and ground,the reason of swing foot locomotion error is analyzed,and a compensate control strategy is presented.Based on the pace error in sagittal plane and the landing height error,the movement degrees of pitch freedoms of degree of hip joint,knee joint,and ankle joint of swing leg are gradually compensated online.Prototype experiments prove that the controller can effectively reduce the locomotion error of swing foot,the actual landing time tends to be desired,and the impact force decreases,and its change becomes smooth.As a result,the walking stability of prototype is improved.