随机不确定环境下双足机器人步态扰动平衡控制方法  

Gait Disturbance Balance Control Method for Bipedal Robot in Stochastic Uncertain Environments

作　　者：王艳君[1] WANG Yanjun(School of Information Engineering,Xi’an Eurasia University,Xi’an 710065,China)

机构地区：[1]西安欧亚学院信息工程学院,西安710065

出　　处：《自动化与仪表》2024年第11期47-50,共4页Automation & Instrumentation

基　　金：陕西省计算机教育学会项目(JSJXH-1904)。

摘　　要：在随机不确定环境下,双足机器人需要实时地调整步态以保持平衡。同时,控制系统需要具备良好的稳定性,以确保机器人在受到扰动时不会失去平衡或发生损坏,这对控制算法的性能提出了很高的要求。为了提升机器人运动稳定性,提出一种随机不确定环境下双足机器人步态扰动平衡控制方法。通过RCG姿态解算算法获取双足机器人的实时姿态,根据姿态信息生成单足相阶段、双足相阶段以及足部踝关节轨迹,将上述轨迹作为理想轨迹,设计自适应滑膜控制器处理随机不确定环境带来的外部扰动,动态调整控制参数和策略使机器人能够按照理想轨迹稳定行走,以此实现双足机器人步态扰动平衡控制。实验结果表明,在环境扰动下所提方法能够显著提高机器人的稳定性和适应性,显著提高了机器人运动的稳定性。In a stochastic and uncertain environment,bipedal robot need to adjust their gait in real-time to maintain balance.At the same time,the control system needs to have good stability to ensure that the robot does not lose balance or suffer damage when disturbed,which puts high demands on the performance of control algorithms.In order to improve the stability of robot motion,a gait disturbance balance control method for bipedal robot in stochastic uncertain environments is proposed.Real-time pose of the bipedal robot is obtained through the RCG pose calculation algorithm.Based on the pose information,single legged phase,bipedal phase,and ankle joint trajectories are generated,and the above trajectories are used as ideal trajectories.An adaptive sliding film controller is designed to handle external disturbances caused by random and uncertain environments.Control parameters and strategies are dynamically adjusted to enable the robot to walk steadily according to the ideal trajectory,thereby achieving gait disturbance balance control of the bipedal robot.The experimental results show that the proposed method can significantly improve the stability and adaptability of robot under environmental disturbances,and significantly enhance the stability of robot motion.

关 键 词：双足机器人 RCG姿态解算 步态轨迹生成 自适应滑膜控制器 步态平衡控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]