双足机器人动态步行仿人智能控制  

Human simulated intelligent control for dynamic walking of biped robot

作　　者：刘成军[1] 薛方正[1] 李祖枢[1,2] 邓航见[1] 

机构地区：[1]重庆大学智能自动研究所,重庆400044 [2]重庆理工大学计算机科学与工程学院,重庆400050

出　　处：《重庆大学学报（自然科学版）》2013年第2期45-50,共6页Journal of Chongqing University

基　　金：国家自然科学基金资助项目(60905053;60574076)

摘　　要：针对双足机器人动态步行中存在的控制器复杂问题,提出了一种基于仿人智能控制的动态步行运动控制器。建立了平面五杆双足机器人动力学模型,通过模仿人类步行运动并根据动态步行过程中双腿的姿态变化,将动态步行复杂任务分解为顺序执行的4个过程,结合相平面法定性定量的分析,设计了步行运动控制模态及相应阶段的动觉智能图式群。仿真实验表明,该方法实现了双足机器人连续动态步行运动,控制方式简单易实现。A human simulated intelligent control scheme based on sensory-motor schema for dynamic walking of biped robot is presented to solve the complex controller design. The dynamics model of a five-link planar biped is established. By imitating human walking movement and apprehending the posture change of the legs, the complex process of dynamic walking for biped robot is divided by four sequence phases. The multi-mode control law and the group of sensory-motor schema are designed based on the analysis of quality-quantity combination to the phase plane. Simulation results show that the proposed control strategy is effective to ensure continuous dynamic walking of biped robot and the control method is simple and easy to be realized.

关 键 词：双足运动 动态步行 控制系统 仿人智能控制 动觉智能图式 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]