基于力矩传感器的双足机器人在线模糊步态调整器设计

Design of On-line Fuzzy Gait Adjuster of Biped Robot Using Torque Sensors

双足机器人动态行走时 ,零力矩点轨迹与期望值之间存在一定偏差。利用机器人力矩传感器的输出信号 ,结合动力学算法实时计算零力矩点的位置 ,并利用基于模糊逻辑的步态调整算法修正踝关节处的 4个关节角 ,以达到降低零力矩点位置误差 ,提高系统动态行走稳定性的目的。仿真和实验证实了该算法的有效性。

For a biped walking robot, there is always some deviation between the actual ZMP (Zero Moment Point) trajectory and the desired one in real walking. During walking, the real time ZMP trajectory can be obtained from the output signals of torque sensors. By comparing with the off line planned ZMP trajectory, and using fuzzy logic to adjust the four ankle joint angles, the ZMP deviation can be decreased. Simulation results show that the dynamic stability is improved by the proposed algorithm.