基于气动人工肌肉的仿人机器人膝关节设计与控制

Design and control of knee joint of humanoid robot based on pneumatic artificial muscles

考虑气动人工肌肉的功率/质量比与柔性优势,研究其在仿人机器人下肢结构中的应用.首先分析人体下肢生理结构及功能映射,进行膝关节的结构设计;其次,采用H鲁棒控制理论,设计了膝关节运动角度控制器,以及基于反馈线性化原理的气动肌肉气压控制器;最后,搭建关节运动控制实验平台,并进行验证性实验研究.结果表明,所设计的气动关节能完成大腿-小腿相对转动90°的运动要求,关节轨迹跟踪稳态误差小于4%.

Considering the flexibility and high power-mass ratio of the pneumatic artificial muscle（PAM）,this paper studies its application to the humanoid robot lower limbs.Firstly,based on analyzing the physiology of human lower limbs and its functional mapping,a lower limb joint of humanoid robot is designed.Then a controller for joint rotation angular tracking is developed using H robust control strategy,while a controller for PAM driving pressure tracking is developed based on the feedback linearization theory.Finally,a kinematic control test bed of the developed knee joint with pneumatic muscle is constructed;and then the experiments are performed.The results show that the developed humanoid knee joint can realize the rotation of 90°;the steady-state error of the joint trajectory tracking is smaller than 4%.