双足行走机器人步态与稳定性研究  

A Study on Gait and Stability of Biped Walking Robot

作　　者：李卓 叶天迟[1] 时岩松 LI Zhuo;YE Tian-chi;SHI Yan-song(Jilin Engineering Normal University, Changchun Jilin 130052, China)

机构地区：[1]吉林工程技术师范学院,吉林长春130052

出　　处：《吉林工程技术师范学院学报》2022年第1期93-96,共4页Journal of Jilin Engineering Normal University

摘　　要：双足行走机器人的步态稳定控制系统不仅系统结构复杂,而且系统耦合度较高,因此,需要机器人具有稳定性较强的步态稳定控制系统为机器人提供稳定运行的保障。文章从步态稳定控制系统的软硬件设计以及步态控制算法等方面进行了研究。利用六轴传感器检测机器人的运动状态,并提出了去除重力分量的RCG姿态解算算法作为机器人的步态控制算法。除此之外,系统的控制模式采用了主从控制模式,将系统分成了主控板和舵机控制板两大部分,在一定程度上降低了系统的耦合性,使系统的升级与维护能够更加有针对性的分开进行。最后利用模拟样机与实验样机进行了一系列实验证明了步态稳定控制系统具有有效性。The gait stability control system of a biped walking robot is not only complex in system structure,but also has a high degree of system coupling.Therefore,it is necessary for the robot to have a gait stability control system with strong stability to ensure the stable operation of the robot.This paper studies the software and hardware design of the gait stability control system and the gait control algorithm.The motion state of the robot is detected by a six-axis sensor,and an RCG posture calculation algorithm that removes the gravity component is proposed as the gait control algorithm of the robot.In addition,the control mode of the system adopts the master-slave control mode,which divides the system into two parts:the main control board and the steering gear control board,which reduces the coupling of the system to a certain extent,so that the system can be upgraded and maintained separately.Finally,a series of experiments were carried out using the simulated prototype and the experimental prototype to prove the effectiveness of the gait stability control system.

关 键 词：双足行走机器人 步态稳定控制 姿态解算算法 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]