面向离散地形的欠驱动双足机器人平衡控制方法  

Balance Control of Underactuated Biped Robot for Discrete Terrain

作　　者：韩连强 陈学超 余张国[1,2] 高志发 黄岩[1,2] 黄强 HAN Lian-Qiang;CHEN Xue-Chao;YU Zhang-Guo;GAO Zhi-Fa;HUANG Yan;HUANG Qiang(School of Mechatronical Engineering,Beijing Institute of Technology,Beijing 100081;Key Laboratory of Biomimetic Robots and Systems,Ministry of Education,Beijing 100081)

机构地区：[1]北京理工大学机电学院,北京100081 [2]仿生机器人与系统教育部重点实验室,北京100081

出　　处：《自动化学报》2022年第9期2164-2174,共11页Acta Automatica Sinica

基　　金：科技部重点研发计划(2018YFE0126200);国家自然科学基金(61973039,62073041);高等学校学科创新引智计划(111计划)(B08043)资助。

摘　　要：欠驱动双足机器人在行走中为保持自身的平衡,双脚需要不间断运动.但在仅有特定立足点的离散地形上很难实现调整后的落脚点,从而导致欠驱动双足机器人在复杂环境中的适应能力下降.提出了基于虚拟约束(Virtual constraint,VC)的变步长调节与控制方法,根据欠驱动双足机器人当前状态与参考落脚点设计了非时变尺度缩放因子,能够实时重构适应当前环境的步态轨迹;同时构建了全身动力学模型,采用反馈线性化的模型预测控制(Model predictive control,MPC)滚动优化产生力矩控制量,实现准确的轨迹跟踪控制.最终进行了欠驱动双足机器人的随机离散地形稳定行走的仿真实验,验证了所提方法的有效性与鲁棒性.To keep the balance of the underactuated biped robot during walking, its feet need to move continuously. However, it is difficult to achieve the adjusted foothold on the discrete terrain with only a specific foothold,which decreases the adaptability of underactuated biped robots in complex environments. This paper proposes a variable step-size adjustment and control method based on virtual constraints(VC). Time-invariant scaling factors are designed according to the underactuated biped robot’s current state and reference point, which can reconstruct the gait trajectory by adapting to the current environment in real-time. Meanwhile, the whole body dynamics model is constructed. The torque control is generated by rolling optimization using model predictive control(MPC) with feedback linearization to achieve accurate trajectory tracking control. Finally, an underactuated biped robot walking stably on random discrete terrain is simulated to verify the effectiveness and robustness of the proposed method.

关 键 词：欠驱动双足机器人 离散地形 平衡控制 虚拟约束 模型预测控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]