基于能量转换的仿人机器人摆动腿落地改进阻抗控制方法

Improved impedance control of humanoid robot swing leg landing based on energy conversion

针对没有缓冲装置的双足仿人机器人在快速运动中摆动腿落地会对机器人身体稳定性带来影响的问题,结合阻抗控制的控制特点,从能量转换的角度进行分析,提出了基于能量转换的仿人机器人摆动腿落地改进阻抗控制方法。以阻抗控制方法为基础,通过对机器人摆动腿落地时末端速度以及落地后质心速度的分析,结合在摆动腿落地这一过程中能量的转换关系,对机器人摆动腿各关节的力进行控制,从而达到机器人摆动腿缓冲落地的目的。最后,将此方法应用于机器人Nao,实验证明,机器人摆动腿落地时与地面的瞬时作用力减小,达到了缓冲落地的效果,同时也起到了预先控制的作用。

According to no buffering device of biped humanoid robot in the rapid movement of swing leg landing will affect the stability of the robot body problems, combined with the impedance control characteristics, analyzed from the perspective of energy conversion based on energy conversion of the humanoid robot leg landing, an improved impedance control method was proposed. Based on the impedance control method as the foundation, through analysis with the robot leg swing fall terminal velocity and barycenter velocity after landing, combined with the energy conversion in the swing leg landing process. the authors controlled the force of robot leg when landing, achieved the purpose that the swing leg landing buffered. Finally, this method was applied to robot Nao. The experiment proves that the instantaneous force is decreased when robot leg swing landing ground, achieves the effect of buffer landing, and the pre-control was implemented.