双足步行机器人能量成型控制

Energy shaping control of biped walking robot

为了使双足被动行走机器人的行走步态符合仿生规律,且当路面坡度变化后,迅速进入新的稳定步态行走,提出了角度不变能量成型控制策略.研究了欠驱动双足机器人能量匹配条件和能量成型控制器的求解;由于动能相对于旋转变换不具有对称性,通过在能量成型控制中附加一个辅助控制量,实现角度不变控制.仿真结果表明,该算方法可实现仿生控制,既能扩大吸引域,又改善系统的鲁棒性.

To make the walking gait of the biped passive robot accord with the bionic rules,and quickly enter a new steady-state after the road-slope changes,we propose a control strategy based on energy-shaping with invariant angle.The energy-matching condition has been studied;the energy-shaping controller is designed.Because the kinetic energy-shaping has no symmetry relative to the rotation transformation,the angle-invariant control is implemented by the auxiliary control in energy shaping.The simulation results show that this method realizes the bionic control and enlarge the attraction domain,and also improve the robustness.