双足机器人RCG姿态控制算法的研究

Research on RCG Attitude Control Algorithm of Biped Robot

稳定步行是仿人双足机器人开展实际作业的基础,也是研究的难点和热点.为了提高对仿人机器人步行失稳的响应速率和控制准确性,克服利用陀螺仪进行姿态测量及控制无法完整表述机器人运动状态,从而造成控制滞后的缺点.本文提出了RCG姿态控制算法,在以角速度和角度作为控制参量的模型基础上,引入机器人运动过程中的加速度作为姿态判断和调整的影响因子,实现对机器人行走过程的反馈控制,提高了双足机器人对失稳状态的响应速率和响应的准确性.通过对自主搭建的机器人样机进行测试,结果表明:当双足机器人步行失稳时,RCG姿态控制算法比以角速度和角度作为参量的控制算法能够更快速、准确的修正姿态偏差,保持姿态稳定.

Stable walking is the foundation of humanoid robot in practical work,and is the key and hot topic of research.In order to improve the response rate and control accuracy of the humanoid robot's walking instability,the attitude measurement and control of the gyroscope can not be used to describe the movement state of the robot completely,which leads to the shortcomings of the control lag.In this paper,the RCG attitude control algorithm is proposed.Based on the model of angular velocity and angle as the control parameters,the acceleration of robot movement in the process is taken as the factor of attitude judgment and adjustment,and the feedback control of the robot walking process is realized.The response rate and response accuracy of the robot to the unstable state are improved.The test of RCG attitude control algorithm were carried using self-built robot prototype.The results show that RCG attitude control algorithm can correct attitude deviation more timely and accurately compared with the attitude of the control method only using angular velocity and angle,and maintain a stable attitude,when the biped robot is unstable.