基于CPG的双足机器人多层步行控制器设计

Central pattern generator based multi-level walking controller design of biped robot

针对双足机器人步行控制器的设计问题,基于生物学启发原理,提出一种基于中枢模式发生器(CPG)与稳定性分析相结合的多层次结构控制器设计方法.分析机器人的步行运动,给出双足运动描述.基于CPG理论设计多层次结构的步行控制器,应用极限环理论方法分析运动稳定性.在保证步行稳定的前提下,所提出的控制方法具有结构简单、通用性好、方便在线平滑修正等优点,步行仿真实验验证了所提出算法的有效性.

For walking controller design of the biped robot, a walking controller with multi-level structure is proposed by integrating the central pattern generator（CPG） stability analysis from the perspective of biological inspiration. The walking model of the biped robot is given. Then, the multi-level structure walking controller is proposed. By using the limit cycle theory, the walking stability is analyzed systematically. Compared with existing methods, the propoed controller is superior in simple structure, good versatility and converient online smoothing correction on the premise of walking stability. The simulation results show the effectiveness of proposed method.