仿人机器人站立平衡控制研究  

Standing Balance Control of Humanoid Robot

作　　者：杜美林 郭祖华[2] DU Mei-lin;GUO Zu-hua(Changcheng Institute of Metrology and Measurement,Beijing 100095,China;School of Astronautics,Beihang University,Beijing 102206,China)

机构地区：[1]航空工业北京长城计量测试技术研究所,北京100095 [2]北京航空航天大学宇航学院,北京102206

出　　处：《计算机仿真》2024年第8期447-452,470,共7页Computer Simulation

摘　　要：双足支撑使仿人机器人稳定域有限,为使其具备抗扰动能力,研究支撑点不变情况下机器人受到瞬时前向扰动的站立平衡控制方法。通过分析确定了零力矩点稳定判据在平衡控制中的应用方法。推导了机器人三连杆动力学模型方程,基于此设计了滑模变结构控制律。为消除滑模控制力矩抖振并给出最优控制参数,对不同扰动分别用鲸鱼优化算法优化控制参数,优化目标还包括能耗低和机器人最终恢复直立。基于Simulink搭建动力学仿真系统,对五连杆模型进行平衡控制仿真。结果显示,在所设计的控制律下,机器人动作平稳,各关节控制力矩平滑。不同扰动下其抵抗扰动的动作模式相近,即弯曲膝关节的下蹲动作。Humanoid robots'bipedal support mode limits its stability domain.In order to give it the ability to resist disturbances,standing balance control of humanoid robots under instantaneous forward disturbance while keeping the support point unchanged is studied.The application method of zero moment point stability criterion in balance control is analyzed.The three-link dynamic model equation of the humanoid robot is derived,and based on this,a sliding mode variable structure control law is designed.To solve the problem of torque chattering of sliding mode control and provide optimal control parameters,the whale optimization algorithm is used to optimize control parameters respectively for different disturbances,and the optimization goal also includes low energy consumption and the robot's eventual return to upright position.A dynamic simulation system is built based on Simulink,and the balance control simulation is conducted with a five-link model as the controlled object.Results show that under the designed control law,the robot moves smoothly,and the control torque of each joint is smooth;the robot's action patterns to resist different disturbances are similar,that is,the squat action of bending knees.

关 键 词：仿人机器人 站立平衡 滑模控制 动力学仿真 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]