足球机器人腿部机构设计与步态规划研究

Research on the gait planning and design of the leg mechanism of the soccer robot

足球机器人腿部机构在受到零力矩点扰动的影响时,会出现步态失稳现象,为此提出基于行走振动抑制和最优控制律的足球机器人腿部机构设计与步态规划方法。根据足球机器人腿部各机构的运动位姿、速度等信息构建腿部机构动力学模型;依据动力学模型对腿部机构进行参数辨识,建立行走振动抑制及控制律模型、机器人腿部机构与步态协调对应的状态空间模型,采用跟踪误差和反馈调节方法实现最优控制律设计,完成足球机器人腿部机构与步态规划联合控制。仿真结果表明,采用该方法进行足球机器人腿部机构设计和步态规划稳定性较好,机器人步态跟踪的误差较小,误差跟踪自适应调节能力较强,鲁棒性较好。

Aiming at the gait instability when the leg mechanism of soccer robot is affected by the disturbance of zero moment point,it presents the design and gait planning of leg mechanism of soccer robot based on walking vibration suppression and optimal control law.Based on the movement posture,speed and other information of the legs of the football robot it establishes the dynamic model of the leg mechanism,identifies the leg mechanism for the dynamic model.So it builds a walking vibration suppression and control law model,which describes the state space model of the robot leg mechanism corresponding to the gait coordination.It uses the tracking error and feedback adjustment methods to achieve the optimal control law design,realizes the joint control of the football robot leg mechanism and gait planning.The simulation results show that the proposed method has good stability for leg control and gait planning of football robots,and the error of robot gait tracking is small,the error tracking adaptive adjustment ability and the robustness is strong.