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基于能效优化的两足机器人步态控制方方法法 被引量：5

Gait control based on energy-efficiency optimization for biped robots
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摘要 针对高能耗导致的两足机器人实用化障碍,提出了一种全新的、系统化的步态能效优化控制方法.基于两足机器人运动的重要能耗指标(平均功率、平均功率偏差、平均力矩损耗),提出了能耗预估策略和能效优化算法,获取了零力矩点(ZMP)稳定区域内的能耗极小值.沿着能耗极小值所对应的上体轨迹对机器人步态实施能效优化控制,最终获得满足ZMP稳定判据的低能耗步态.仿真结果证明,该方法能够有效降低机器人能耗并保持其稳定性. A gait control based on energy-efficiency optimization is proposed for solving the fatal problem of high energy consumption in practical application of biped robots.A strategy of energy consumption estimation（ECE） and an algorithm of energy-efficiency optimization are proposed based on three important indices of energy consumption for biped locomo-tion average mechanical power,mean power derivation and mean torque consumption.Controlling the gait of the robot along the trunk trajectory which corresponds to the minimal energy consumption in the zero moment point（ZMP） stability domain,we obtain the energy-efficiency gait guaranteeing the ZMP criterion.Simulation results show the validity of the method.
作者 王丽杨 刘治 曾小杰 章云
机构地区 广东工业大学自动化学院 顺德职业技术学院电子工程系
出处 《控制理论与应用》 EI CAS CSCD 北大核心 2011年第5期667-674,共8页 Control Theory & Applications
基金 国家自然科学基金资助项目(U0735003 60974047) 广东省自然科学基金资助项目(8351009001000002 9151009001000011) 广东省科技计划资助项目(2009B010900051) 教育部霍英东青年教师基金资助项目(121061) 广东省高层次人才计划资助项目
关键词 能量效率 两足机器人 零力矩点 步态控制 energy efficiency biped robot zero moment point gait control
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献21

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二级参考文献16

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共引文献14

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引证文献5

二级引证文献19

控制理论与应用
2011年 第5期

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