双足机器人上楼梯步态的规划与控制  

Gait Planning and Control of a Biped Robot Climbing Upstairs

作　　者：宋宪玺[1] 周烽[1] 梁青[1] 王永[1] 

机构地区：[1]中国科学技术大学自动化系,安徽合肥230027

出　　处：《计算机仿真》2011年第4期176-180,共5页Computer Simulation

摘　　要：研究双足机器人上楼路径优化技术,为了让双足机器人实现稳定的上楼梯的行走,应规划双足机器人的上楼梯的步态。为解决对步态进行合理规划与稳定控制问题,提出用几何约束法,用摆线拟合踝关节运动轨迹,设计模糊控制器,对踝关节的滚转角度进行调整,使ZMP位置靠近支撑区域中心,保证了机器人的稳定行走;最后在ADAMS软件中建立了双足机器人的虚拟样机,并通过与Matlab的联合仿真,实现了双足机器人上楼梯的稳定行走仿真。仿真结果验证了上楼梯步态与模糊控制器的有效性,为系统设计提供了保证。In order to get a bipedal robot climb upstairs stably,its gait should be planed appropriately,and be controlled stably.The gait was planned by geometric constraint method,and the ankle＇s trajectory was fitted with cycloid;then a fuzzy controller was designed to adjust the roll＇s angle of ankle,which made the ZMP closed to the center of support region,and ensured the stable walking of bipedal;finally a virtual prototype was built in ADAMS,and realized the action of stably climbing upstairs by the coordinated simulation with Matlab.The simulation results verified the effectiveness of the gait of climbing upstairs and the fuzzy controller.

关 键 词：双足机器人 上楼梯 零力矩点 模糊控制 联合仿真 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]