仿生双足机器人步态轨迹自适应控制方法研究

Research on Adaptive Control Method of Gait Trajectory of Bionic Biped Robot

仿生双足机器人的步态控制具有高阶、高耦合,以及不完整约束等复杂特征,为了使其行走性能更接近人体,基于模型分析提出了一种步态轨迹自适应控制方法。首先在人体步态变化对质心投影位置与质心角动量影响的基础上,引入倒立摆建立步态模型来模拟人体行走状态,同时推导出质心投影点位置与速度公式。然后为了实现步态轨迹自适应控制,对影响步态性能的稳定性、速度调整、能量消耗三个因素设计了相应的目标约束。在目标约束条件下,利用参考轨迹对机器人的步态控制参数进行自适应整定。并根据周期间的相位差异进行偏差调整,从而抑制步态控制的误差。最后通过仿真模拟仿生双足机器人的行走过程,证明提出的步态轨迹自适应控制方法能够合理有效的控制能量消耗和稳定调节,具有良好的步态平衡性能与抗扰动性能。

The gait control of bionic bipedal robot is characterized by high order,high coupling and incomplete constraints.In order to make its walking performance more close to human body,an adaptive control method of gait trajectory was proposed based on model analysis.Firstly,on the basis of the influence of human gait changes on the projection position and angular momentum of the center of mass,an inverted pendulum was introduced to establish a gait model to simulate human walking,at the same time,the formula of the position and velocity of the projection point of the center of mass was derived.Then,in order to realize the adaptive control of gait trajectory,the corresponding target constraints were designed for the stability,speed adjustment and energy consumption of gait performance.Under the constraints of the target,the reference trajectory was used to adjust the gait control parameters of the robot adaptively.According to the phase difference between periods,the deviation was adjusted to restrain the error of gait control.Finally,by simulating the walking process of the bionic biped robot,it was proved that the proposed gait trajectory adaptive control method can control energy consumption and stable regulation reasonably and effectively.It has good gait balance performance and anti-disturbance performance.