仿人跑步机器人稳定性与控制策略研究进展

A Survey of Stability and Control Strategy for Humanoid Running Robots

针对仿人跑步机器人稳定性和控制策略的研究现状与发展趋势进行了探讨。首先,分析了仿人跑步模型的固有特性,包括单边约束特性、系统混杂特性和变拓扑结构特性,介绍了基于ZMP(Zero Moment Point)和零化角动量的稳定性判据以及基于庞加莱映射和极限环的稳定性判据,总结了基于轨迹规划的时变控制策略和基于虚拟约束的定常控制策略,并分析了2种控制策略各自的优缺点,指出仿人跑步机器人研究领域的难点问题和未来工作。最终目标是将这些稳定性判据和控制策略应用到仿人跑步机器人,以提高其跑步运动的性能。

Research status and current development of the stability criterion and control strategy for humanoid running robots are discussed.The inherent properties of humanoid running robots are analyzed,including unilateral constrain,hybrid system and changing topology.The two stability criterions based on ZMP（zero moment point）and zeroing angle momentum,as well as based on poincare map and limit cycle are introduced.The time-variant control strategy based on trajectory planning and the time-invariant control strategy based on virtual constraint are overviewed.The advantages and disadvantages of the two control strategies are also analyzed.The difficulties and future works in this field are presented.The final goal of this research is to apply the stability criterions and control strategies to humanoid running robot to improve its locomotive capability.