基于简化三维线性倒立摆模型的模糊控制射门算法

Fuzzy Control Shooting Algorithm Based on a Simple Three-dimensional Linear Inverted Pendulum Model

针对双足机器人传统射门算法存在仅适用于固定射门角度和射门姿态的问题,提出了一种基于简化三维线性倒立摆模型的模糊控制射门算法,用于实现多角度、多姿态的射门;首先利用简化三维线性倒立摆模型规划出零力矩点(ZMP)轨迹和质心轨迹;其次在双腿支撑相对双足机器人进行射门角度和姿态的调整,同时利用贝塞尔曲线规划出游动腿的轨迹;最后利用模糊控制算法精确地规划出双足机器人的射门轨迹;实验部分利用NAO机器人仿真平台验证了文章提出射门算法的性能,并与其它射门算法进行了比较;最后将实物NAO机器人用于全过程与多角度的实际射门实验,验证了本文提出射门的算法可行性与准确性。

For the problem that traditional shooting algorithms of biped robot only can be used in a certain fixed shooting angle in a fixed shooting posture,a fuzzy control shooting algorithm based on the a simple three-dimensional linear inverted pendulum is proposed.Firstly,the zero-moment（ZMP）trajectory and the center-of-mass trajectory are planned according to the simple threedimensional linear inverted pendulum model.Secondly,a biped robot is used to adjust the direction and angle of the soccer robot in the support of the legs and plan the leg trajectory by Bezier curve simultaneously.Finally,a shot trajectory is planned based on a fuzzy control method.A simulation system is used to simulate the shooting motion of a NAO robot,and comparisons with other teams were made.Finally,a real NAO robot is used in the actual shooting experiment of the whole shooting process and multi angle shooting,and the experiment results have verified the feasibility and accuracy of the proposed algorithm.