基于一级倒立摆模型仿人机器人控制算法研究  

Research on humanoid robot control algorithm based on single inverted pendulum

作　　者：胡静[1] 姜大伟[1] 王华振[2] 姚禹[1] 谭海东[2] 

机构地区：[1]长春工业大学软件职业技术学院,吉林长春130012 [2]长春工业大学机电工程学院,吉林长春130012

出　　处：《电子技术应用》2014年第12期92-95,共4页Application of Electronic Technique

基　　金：吉林省教育厅"十二五"科学技术研究项目(吉教合字[21014]第141号)

摘　　要：针对仿人机器人步态行走不稳定的问题,以倒立摆为控制对象,建立仿人机器人步态行走数学模型。以仿人机器人姿态角和位移建立双闭环控制系统,采用PID控制算法对仿人机器人姿态角和位移进行调节。以19自由度仿人机器人进行实验验证,表明了所采用仿人机器人步态行走系统PID控制算法的正确性及高精确度。系统响应稳定,超调<0.3%,调节时间<0.2 s,关节输出相对误差最大值为2.25%,可实现仿人机器人稳定的步态行走。Aimed at the instability problem of the humanoid robot walking gait,combining with inverted pendulum,the mathematical model of humanoid robot walking gait was built.Double closed loop control system was established by humanoid robot attitude angle and displacement that were adjusted by PID algorithm.With 19 DOF humanoid robot,experiment validation was finished.The results showed the correctness and high accuracy of humanoid robot PID control algorithm,the system response is stable,the system overshoot is less than 0.3％,the system regulating time is less than 0.2 s,joint output maximum relative error is 2.25％.The humanoid robot stable walking gait can be achieved.

关 键 词：仿人机器人 稳定性 倒立摆 PID 

分 类 号：TP272[自动化与计算机技术—检测技术与自动化装置] TP311.1[自动化与计算机技术—控制科学与工程]