考虑关节角加速度约束的仿人机器人偏摆力矩控制方法  

Yaw Moment Control for Humanoid Robot with Joint Acceleration Constraints

作　　者：杨亮 付根平[3] 陈勇[2] YANG Liang;FU Gen-ping;CHEN Yong(School of Computer Engineering,University of Electronic Science and Technology of China,Zhongshan Institute,Zhongshan,Guangdong 528402,China;School of Automation,Zhongkai University of Agriculture and Engineering,Guangzhou,Guangdong 510225,China;School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu,Sichuan 611731,China)

机构地区：[1]电子科技大学中山学院计算机学院,广东中山528402 [2]电子科技大学自动化工程学院,四川成都611731 [3]仲恺农业工程学院自动化工程系,广东广州510225

出　　处：《电子学报》2019年第2期475-482,共8页Acta Electronica Sinica

基　　金：国家自然基金(No.61573108;No.U1613223;No.U1501251;No.U1613223);广东省自然科学基金(No.2016A030313715;No.2016A030313018);中央高校基本科研业务费专项资金(No.ZYGX2016J140);四川省科技支撑计划(No.2016GZ0395;No.2017GZ0395;No.2017GZ0394);中山市科技计划(No.2017A1024;No.2017SF0603)

摘　　要：针对仿人机器人步行过程中存在的机器人关节角加速度约束影响控制性能的问题,提出一种考虑关节角加速度约束的仿人机器人偏摆力矩控制方法.该方法充分考虑了双臂在摆动过程中对偏摆力矩的影响,根据力矩平衡条件得到需要抵消的偏摆力矩的大小与方向,将偏摆力矩的控制问题转化为带约束条件的二次规划问题,并设计了一种在线变步长迭代算法计算得到优化后的双臂摆动轨迹.实验表明,该方法能有效抵消机器人步行中产生的偏摆力矩,避免控制过程中的"削峰"现象,有效提高机器人的步行稳定性.To cancel the effect on control performance due to joint acceleration constraints during humanoid robot walks,a new yaw moment control approach with consideration of joint acceleration constraints is proposed.After analyzing the effect on stability caused by the motion of arms swing,the undesired yaw moment which needs to be counteracted is computed.Then,the yaw moment control problem is formulated as a quadratic programming problem with inequality constraints.To solve this optimization problem effectively,an online variable step-size iteration method is designed to generate the trajectories of arms swinging.The experiment and simulation results verified that the proposed approach can effectively compensate yaw moment,avoid peak cut-off phenomenon and guarantee the stable walking.

关 键 词：仿人机器人 偏摆力矩 关节角加速度约束 二次规划 零力矩点 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]