| 引用本文: | 刘振泽,田彦涛,张佩杰,周长久.无动力双足步行机器人控制策略与算法[J].控制理论与应用,2009,26(2):113~121.[点击复制] |
| LIU Zhen-ze,TIAN Yan-tao,ZHANG Pei-jie,ZHOU Chang-jiu.Control strategies and algorithms for passive compass-like biped robot[J].Control Theory and Technology,2009,26(2):113~121.[点击复制] |
|
| 无动力双足步行机器人控制策略与算法 |
| Control strategies and algorithms for passive compass-like biped robot |
| 摘要点击 2149 全文点击 3048 投稿时间：2007-01-12 修订日期：2008-09-18 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 |
| 2009,26(2):113-121 |
| 中文关键词 无动力双足步行机器人 角度不变控制 能量控制 极限环 |
| 英文关键词 compass gait biped robot slope invariance law energy based control limit cycle |
| 基金项目 国家高技术研究发展计划(863计划)资助项目(2006AA04Z251); 吉林省科技发展计划项目(20070524); 吉林大学 “985工程”研究生创新计划项目(20080201). |
|
| 中文摘要 |
| 本文研究无动力双足步行机器人的建模、分析与控制问题. 基于能量的控制增加了机器人行走极限环的稳定性、鲁棒性, 扩大了极限环的收敛域; 角度不变控制使机器人的稳定行走步态摆脱了地面倾斜角度的限制; 把基于能量的控制与角度不变控制结合起来, 可以实现在不同倾斜角度地面上行走模式的切换. 基于能量的行走平均速度控制方法在平均速度与目标能量之间建立了联系, 能使机器人的行走产生新的稳定步态. 最后, 对无动力双足步行机器人的研究前景做了展望. |
| 英文摘要 |
| The modeling and control for the compass-like biped robot are studied through analysis and numerical simulation. The energy-based control strategy is presented to improve the stability and robustness of the biped locomotion and extend the attraction region of the limit cycle. The slope-invariance control law is then designed to make the biped locomotion invariable to different slopes. Switching between different models for different slopes can be realized by combining the slope-invariance control law with the energy-based control strategy. The average-speed control based on the desired-energy control relates the average moving speed with the desired energy level and introduces a new type of stable limit cycle in the robot’s walking. Finally, the future development of the control of compass gait biped is discussed. |