基于地面反力最优规划的双足机器人姿态控制

Attitude Control of Biped Robot Based on Optimal Reactive Force Distribution

提出了一种基于地面反力最优规划的双足步行机器人上体姿态控制算法，以实现上体轨迹准确跟踪及为分级递阶控制结构中的地面反力／位混合控制提供参考输入。由于上体只安装了加速度器并未安装陀螺仪，文中采用线性观测器来重构沿偏转轴和俯仰轴的偏转速度，利用无源性理论控制器一观测器设计了保持上体姿态跟踪特性及系统为最终有界和局部指数稳定有界的地面反力期望值。

A new approach of designing attitude controller is developed based on the optimal reactive force distribution between the robot and environment. The function of the attitude controller is providing input for the force/position controller of the biped robot's Hierarchical Control System. Only get the angle of roll/pitch axis, passivity-based controller-observer is used for velocity of two axis. The idea external force input, which ensure the system of biped robot's body uniformly bounded and locally exponentially stability is get.