半被动双足机器人的准开环控制  

Quasi Open-loop Control for Semi-passive Biped Robots

作　　者：付成龙[1,2] 黄元林[2] 王健美[2] 陈恳[1,2] 

机构地区：[1]清华大学摩擦学国家重点实验室,北京100084 [2]清华大学精密仪器与机械学系,北京100084

出　　处：《机器人》2009年第2期110-117,123,共9页Robot

基　　金：国家自然科学基金资助项目(50805082;50575119);国家863计划资助项目(2006AA042253);清华大学摩擦学国家重点实验室自主研究课题(SKLT08B09);教育部博士点基金资助项目(20060003026).

摘　　要：目前的被动行走机器人还只能完成单一的步态,且非常容易摔倒,为此对半被动双足机器人的稳定行走控制问题进行了研究.通过结合被动行走和主动控制两种原理的优点,提出了一种准开环的行走控制方法.通过检测安装在机器人足底和髌骨处的接触开关信号,在髋关节处施加一个间断的、微小的开环振荡力矩,进而实现高效的稳定步行.仿真结果表明,当控制参数在较大范围内变化时,双足机器人仍可实现稳定行走,且步行能耗特性与人类相似;通过调节振荡力矩的参数,机器人可实现稳定的行走模式转换.Since the present passive walking robots can only achieve a single gait and tend to tumble easily, the stable walking control problem for a semi-passive biped robot is studied. A quasi open-loop walking control method is presented through combining the advantages of passive walking and active walking. By detecting the signal values of contact sensors installed under the foot and at the kneecap, an intermittent and small open-loop oscillatory torque is imposed on the hip joint to realize stable walking with high efficiency. The simulation results show that the biped robot can achieve stable walking within a relative large region of control parameters and the energy cost of walking is similar to human beings. By modifying the parameters of the oscillatory torque, the robot can achieve stable transition between walking patterns.

关 键 词：双足机器人 半被动行走 准开环控制 节能 自稳定 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]