基于主-从控制的双足机器人动步态行走  

DYNAMIC LOCOMOTION OF BIPED ROBOT BASED ON MASTER-SLAVE CONTROL

作　　者：刘志远[1] 张铨[1] 傅佩琛[1] 

机构地区：[1]哈尔滨工业大学控制工程系,150006

出　　处：《机器人》1992年第4期7-12,共6页Robot

摘　　要：本文给出一种基于主-从控制实现双足机器人动步态行走的控制方法.该方法计算量小,可以在线规划步态及实现双脚支撑期平滑的动态切换.仿真及实验结果验证了方法的有效性及可行性,实现了变步态动态行走.实验所采用的装置为 HLTR—13双足机器人.该机器人重65kg,高1.1m,具有12个自由度.实验结果表明,本文给出的方法能较好地实现变步态动态行走。从而使机器人具有较强的环境适应能力.This paper presents a control method which is based on master-slave control to realize dynamic locomotionof biped robot.The computational load of this method is low so that it can plan walking patterns on-line andaccomplish smooth dynamic switching in double-support phase.Simulation and experiment results show thatthe method is effective and practical.To realize dynamic locomotion with changing walking patterns.The ap-paratus used in the experiment is a HITR-13 biped robot with 12 DOFs.The experiment results also showthat the method can make biped robot to be well adaptive to environments.

关 键 词：主-从控制 双足 机器人 动态行走 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]