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仿人跑步机器人的控制与仿真

Control and Simulation of Humanoid Running Robot
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摘要 提出了仿人跑步机器人在跑步时关节力矩控制和前向速度控制的方案。对于机器人关节力矩的控制,通过推导机器人的三维动力学方程以及机器人质心和双脚的轨迹,采用阻抗控制的方法实现;对于机器人前向跑步速度的控制,通过在起跳阶段起始时刻调节"虚拟腿"与铅垂线的夹角实现,这种控制方法的优点是简单易行。最后采用虚拟样机软件ADAMS建立了仿人跑步机器人的三维模型,通过仿真证明了这种方法的有效性。 The control scheme of each joint driving torque and forward speed for humanoid running robot was proposed when the robot was running. The control algorithm for each joint torque of the robot was realized by using the impendence control according to deducing the dynamical equation in three dimensions of the robot and the trajectories of the center of mass （COM） and two feet of the robot. Next, the forward speed of the robot was controlled by adjusting the angle between the ＂Virtual Leg＂ and the vertical line at the beginning of the stance phase, which has an advantage of simplicity and feasibility. Finally, the virtual model of the robot was built by the software ADAMS and the validity of the method was verified by the simulation for the virtual model of the robot.
作者 魏航信 吴伟 刘明治 王治国
机构地区 西安石油大学机械工程学院 西安电子科技大学机电工程学院
出处 《系统仿真学报》 CAS CSCD 北大核心 2009年第9期2725-2729,共5页 Journal of System Simulation
基金 高校博士点基金(K0140104)
关键词 仿人机器人 跑步机器人 控制 仿真 humanoid robot running robot control simulation
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置] TH113 [机械工程—机械设计及理论]
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参考文献12

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系统仿真学报
2009年 第9期

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