不平整地面上双足机器人的步态控制  

Walking control for biped robots on uneven ground

作　　者：李建[1] 陈卫东[1] 王丽军[1] 杨军[2] 李慕君[2] 

机构地区：[1]上海交通大学自动化系,上海200240 [2]上海电气集团中央研究院,上海200070

出　　处：《东南大学学报（自然科学版）》2009年第S1期129-133,共5页Journal of Southeast University：Natural Science Edition

基　　金：国家高技术研究发展计划(863计划)资助项目(2006AA040203);国家自然科学基金资助项目(60775062);新世纪优秀人才支持计划资助项目(NCET-07-0538)

摘　　要：提出了一种不平地面环境下双足机器人的步行控制算法.该算法由步态规划和传感器反馈控制系统组成.在步态规划中,采用被动倒立摆模型设计双足机器人的质心位置,所生成的步态使机器人能够在平地上更自然有效地稳定行走.在线反馈控制系统用于处理地面环境的凹凸不平以及来自外界的未知扰动,可分为上身姿态控制、期望ZMP控制以及非线性落地控制3个部分.这3种控制分别针对不同的控制目标,并根据步行过程的具体阶段在线修正预先规划好的步态,维持双足机器人的步行稳定性.它们在结构上相互耦合,从而实现加速在线反馈控制系统的收敛速度、克服机器人柔性对控制作用的负面影响等效果.双足机器人在凹凸地面的步行实验验证了所提出步行控制算法的有效性.A walking control algorithm is proposed for biped robots on the uneven ground.It consists of a walking pattern generation and a sensory feedback control algorithm.For the walking pattern generation,a passive inverted pendulum model(PIPM) is used to design the trajectory of the gravity center of the biped robot.The generated pattern enables the biped robot to walk stably on the flat ground with a more natural human-like walking.The online sensory feedback controller is developed to deal with the unevenness of the environments and unknown disturbances.The controller is composed of body attitude control,desired zero moment point(ZMP) control and nonlinear landing control,which are designed for different control objectives.According to the walking periods,they can modify the predefined gait to assure the stability of the biped walking.Furthermore,they are structurally coupled with each other,which can accelerate the convergence speed of the online sensory feedback controller and tackle the influence of the biped robot's flexibility on the control effect.The walking experiment for the biped robot on the uneven ground confirms the effectiveness of the proposed algorithm.

关 键 词：双足机器人 步态规划 步态控制 被动倒立摆模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]