关于双足机器人步行跟踪稳定性能控制研究  

Research on Stability Performance Control for Walking Track of Biped Robot

作　　者：杨亮[1,2] 梁瑞仕[1] 付根平 邓春健[1] 

机构地区：[1]电子科技大学中山学院,广东中山528402 [2]广东工业大学,广东广州510006 [3]仲凯农业工程学院,广东广州510225

出　　处：《计算机仿真》2016年第3期274-277,384,共5页Computer Simulation

基　　金：国家自然科学基金(61302115;61300095);广东高校优秀青年创新人才培养计划项目(2013LYM0104);广东省自然科学基金项目(S2013010015764;S2012040011123;S2013010012307);广东省高等学校优秀青年教师培养计划项目(Yq2013204);中山市科技计划项目(2013A3FC0278;2013A3FC0289;20123A314)

摘　　要：研究双足机器人步行跟踪稳定性能的控制优化问题。针对双足机器人多关节、强耦合、变结构特点以及因外力干扰容易造成机器人在步行过程中各关节偏离预定轨迹而失去平衡的问题,提出了一种离线步态优化与在线步行控制相结合的控制算法,采用对位学习的多目标粒子群算法以稳定裕度大、能耗小为目标对机器人步态进行优化,通过计算种群成员对位点的方式更新种群,达到快速收敛的目的,并设计了自适应控制器以提高控制系统的鲁棒性,仿真结果表明,采用改进方法规划的步态能够实现双足机器人稳定、协调的行走,控制系统具有良好的动态响应特性。This paper studied the control and optimization of locomotion stability for biped robot. In view of the characteristics of multiple joints, strong coupling and variable structure of biped robot and the problem of losing bal- ance for the deviation of robot joints from the planned trajectories caused by external disturbance during walking, a hybrid control scheme of offline gait optimization and online control was proposed. A multi-objective particle swarul optimization algorithm based on opposition learning was developed to optimize the walking gait, which aims to improve the stability margin reduce energy consumption. For speeding convergence, the mechanism of updating the population by computing the opposite entity was adopted. In order to improve the robustness, an adaptive controller was con- structed. Simulation results indicate that biped robot can walk naturally and stably with the gait generated by the pres- ented approach and the control system has good dynamic response characters.

关 键 词：双足机器人 步行控制 零力矩点 粒子群 自适应控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]