单腿跳跃机器人支撑相的动力学与控制被引量：1

Dynamics and Control for a One-Legged Hopping Robot in Stance Phase

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摘要提出一种新型关节腿仿生欠驱动单腿跳跃机器人机构系统模型。该跳跃机器人模型具有仿袋鼠骨骼结构特征,其机构动力学模型可视为二阶非完整约束系统。由于切换线性控制器只能实现该模型在动态周期运动中的动态稳定,而不能实现站立平衡控制。因此采用积分反步控制方法,使机器人机构模型在支撑相能实现不稳定平衡位置的镇定控制。由于严反馈规范形存在反步控制器设计方法,因此基于动力学非线性规范形综合,将机构动力学模型转化为严反馈规范形,从而使其具有严反馈规范形特征。 A novel hopping robot with articulated leg is proposed.The proposed hopping robot is a non-SLIP model system,which generally shows more biological characteristics of kangaroo.This underactu- ated system is a second order nonholonomic constraints system.Thanks to the special design,it is proved that the dynamics of the presented hopping robot mechanism can be transformed into the strict feedback normal form.Then a sliding model backstepping control is proposed and proved for stabilizing the nonlinear dynamic system in stance phase

作者张颖刘菲何广平

机构地区北方工业大学机电工程学院

出处《机械设计与制造》北大核心 2012年第12期165-167,共3页 Machinery Design & Manufacture

基金国家自然科学基金(50975004) 北京市教委创新人才项目(PHR200906107)

关键词跳跃机器人动力学非完整约束欠驱动 Hopping Robot Dynamics Nonholonomy Underactuation

分类号 TH16 [机械工程—机械制造及自动化]

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