用磁流变阻尼器控制异构双腿机器人的仿真研究  

Simulation of biped robot with heterogeneous legs controlled by magneto-rheological damper

作　　者：谢华龙[1] 丛德宏[1] 王斌锐[2] 徐心和[1] 

机构地区：[1]东北大学教育部及辽宁省流程工业综合自动化重点实验室,辽宁沈阳110004 [2]中国计量学院机电分院,浙江杭州310018

出　　处：《功能材料》2006年第5期799-801,804,共4页Journal of Functional Materials

基　　金：国家自然科学基金资助项目(60475036);教育部博士点基金资助项目(20040145012)

摘　　要：介绍了磁流变阻尼器在异构双腿行走机器人中的新应用。首先给出了仿生腿选用MR阻尼器的依据,建立了修正的Sigmoid阻尼器模型;然后对阻尼器安装位置进行了优化;最后对BRHL进行了步态跟随优化及迭代学习控制仿真。结果表示,基于MR阻尼器控制的仿生腿能够很好的实现对人工腿的步态跟随,具有较好的仿人特性。Magneto-rheological damper has great potential in semi-active control and is newly applied in the biped robot with heterogeneous legs （BRHL）. First the reason to the choice of MR damper for bionic leg is given and the Sigmoid model with modification is established in the article. Then the optimal design of fixing location for MR damper is given. In the end,the article gives the optimal simulation of gait following and the simulation of iterative learning control. The results indicate the bionic leg with MR damper can follow the gait of artificial leg well and has good humanoid characteristic.

关 键 词：磁流变阻尼器 异构双腿行走机器人 仿生腿 步态跟随 迭代学习控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]