双足步行机器人在线步态生成与偏航控制策略  

Strategy for biped gait robot online generation and yaw control

作　　者：丁加涛[1] 肖晓晖[1] 王杨[1] 

机构地区：[1]武汉大学动力与机械学院,湖北武汉430072

出　　处：《中南大学学报（自然科学版）》2016年第4期1136-1143,共8页Journal of Central South University:Science and Technology

基　　金：国家自然科学基金资助项目(51175383)~~

摘　　要：针对双足步行机器人的偏航行走需求,提出一种步态生成与偏航行走控制策略,实现步态模式的在线生成与自主偏航行走。其步骤为:首先,基于零力矩点(ZMP)稳定判据,采用线性倒立摆模型和正-逆运动学循环求解算法,建立离线步态生成器;其次,采用预观控制理论,建立用于轨迹跟踪的预观控制器,实现双足步态的在线生成;然后,引入角度系数,运用矢量合成法,根据目标偏航角度,通过回放-纠正方法确定合适的固定系数;最后,采用MATLAB和Adams组成的联合仿真平台,验证方法的有效性。研究结果表明:该方法能利用离线生成的角度,有效减少质心侧向轨迹跟踪误差;通过矢量合成和回放纠正,选取合适的角度系数,实现无偏航步态的在线生成;不需要实时规划参考ZMP轨迹,在保证稳定的前提下,实现15°和30°偏航行走。To meet the task requirements of autonomous yaw for biped robot, a combination strategy for biped gait robot generation and yaw control was proposed, thus the online biped gait generation was realized and the autonomous yaw was obtained. The procedures were as follows. Firstly, based on the zero moment point（ZMP） stabilization criterion, using the linear inverted pendulum model and forward-inverse kinematics cyclic solution algorithm, the offline biped gait generator was built. Secondly, adopting the preview control theory, the online generator was established to realize real-time generation and ZMP trajectory tracking. Then, combining the two generators, the concept of angle coefficient was proposed. After that, the method of displacement vector synthesis was adopted. Through the playback-correction scheme, the angle coefficient was acquired to satisfy the purposed yaw angle. Finally, the effectiveness was verified on the co-simulation platform using the MATLAB and Adams softwares. The results show that the proposed method is effective to utilize the offline generated angle and reduce the tracking error of the center of mass（COM） lateral trajectory. Through vector synthesis and playback-correction, the suitable angle coefficient can be achieved and no-yaw walking pattern can be obtained. Without requiring real-time ZMP trajectory design, stable biped gait with 15°and 30° yaw is realized.

关 键 词：双足步行机器人 步态生成 偏航控制 矢量合成 回放-纠正 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]