仿人机器人在复杂环境中的行走研究

Research on Walking of Humanoid Robot in Complex Environment

在仿人机器人行走限定性的研究中,由于外界环境的复杂性,仿人机器人在行走过程中很容易失稳,导致不能稳定行走的问题。为了避免失稳摔倒,结合FZMP的在线调整策略,提出了通过调整直立姿态、调整落地角动量控制、落地减振控制和落地位置控制四种稳定行走控制方法,通过改变髋关节的高度来吸收由摆动腿提前着地而产生的垂直振动,给出了髋关节的高度补偿计算公式。使得机器人行走的整个过程,特别是在地面不平整以及摆动腿落地瞬间冲击力较大时也能保持良好的稳定性。通过ADAMS软件和虚拟仿真验证,改进方法能有效的实现机器人在复杂环境中的稳定行走。

Humanoid robots can not walking stably because of the complexity of the external environment. In order to maintain its stability in complex environment, a new control strategy was proposed based on FZMP online control, which includes the adjustment posture of upright, angular momentum, ground vibration and the landing position. The vertical vibration caused by landing ahead of schedule was absorbed by changing the height of hip joint, and the calculating formula was provided. These methods can maintain the stability during the whole working process, especially when the ground is uneven and the swing leg is landing. The parameterize modeling of humanoid robot was realized and the simulation was carried out based on ADAMS. The effectiveness of the proposed methods was confirmed by simulation results.