弹簧-负载倒立摆系统三维动态平衡控制仿真研究

Simulation on 3D dynamic stability control of the spring-loaded inverse pendulum system

弹簧-负载倒立摆(Spring-Loaded Inverse Pendulum,SLIP)是足式奔跑跳跃运动的动力学等效模型,也是高性能足式机器人的控制模板。考虑其在三维环境中受到外部扰动的情形,提出一种动态平衡控制方法,主要包括SLIP系统的飞行相弹簧腿摆角控制与着地相机身姿态调整,以及系统能量调节。采用ADAMS-Simulink联合仿真手段,分别针对连续外力扰动与瞬时冲击扰动的情形,对控制方法进行验证,同时将该方法扩展应用于多关节足式机器人单腿平衡运动问题。结果表明,所提出的平衡控制方法能够快速有效地实现三维动态稳定运动。

Spring-Loaded Inverse Pendulum （SLIP） is not only the dynamic equivalent model of legged movement of running and hopping, but also the control template of high-performance legged robots. Considering the sitfiation of SLIP system moving under external disturbances in 3D space, a dynamic stability control method is proposed,which mainly includes the swinging angle control of the springy leg of the SLIP system in flight phase, body attitude adjustment in stance phase, and the system energy regulation. Considering respectively the continuous external disturbance and instantaneous impact disturbance, this method is verified by means of ADAMS-Simulink coimulation,and is extended for the stability control of multi-joint single-leg system of legged robots. Simulation results shows that the proposed stability control method can realize the 3D dynamic stable movement quickly and effectively.