足式机器人主被动联合减振抗冲研究  

Active and Passive Composite Vibration Damping and Impact Resistance Research for Biped Robots

作　　者：李军[1,2] 钟华[1,2] 毛伟伟[1,2] 周烽[1,2] 梁青[1,2] 

机构地区：[1]中国科学技术大学自动化系,合肥230027 [2]海军蚌埠士官学校五系,安徽省蚌埠233012

出　　处：《电子技术（上海）》2015年第9期9-12,5,共5页Electronic Technology

摘　　要：减振抗冲是足式机器人控制研究的重要难题,使用主被动联合减振抗冲的方法可以对足式机器人的振动冲击进行很好的抑制。文章首次将主被动联合抗冲减振控制方法应用到足式机器人的减振控制中,通过建模分析,设计了被动减振单元的刚度和阻尼比,实现了对冲击振动中的高频信号的衰减,然后根据被动减振结果设计合理的主动控制方案,进一步减小了冲击振动中的低频振动。最后使用Sim Mechanics建模分析,验证主被动减振参数设置的有效性。Vibration reduction and impact resistance has been a significant research topic in biped robots control, and the active and passive composite vibration reduction and impact resistance method can generate an effective suppression upon the vibration and impact in biped robots. This article employs the composite control method in the vibration reduction control for biped robots for the first time. At first, through modeling and analyzing, the stiffness and damping ratio of the passive vibration reduction unit is designed, for the attenuation of the high frequency signal in vibration. Then, in accordance with the passive method, this article designs a proper active control method, to eliminate the low frequency signal furtherly. Finally, the effectiveness of the proposed method is illustrated in simulation analysis in SimMechanics.

关 键 词：足式机器人 主被动联合 减振抗冲 SIM MECHANICS 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]