| 仿人机器人相似性运动轨迹跟踪控制研究 |
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| 引用本文： | 柯文德,彭志平,蔡则苏,朴松昊,陈珂.仿人机器人相似性运动轨迹跟踪控制研究[J].自动化学报,2014,40(11):2404-2413. |
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| 作者姓名： | 柯文德 彭志平 蔡则苏 朴松昊 陈珂 |
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| 作者单位： | 1.广东石油化工学院 计算机与电子信息学院 茂名 525000; |
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| 基金项目： | 国家自然科学基金，广东省自然科学基金，广东省高等学校科技创新项目，广东省高校石化故障诊断与信息化控制工程中心开放基金，广东石油化工学院博士启动项目;广东省高等学校高层次人才项目资助@@@@Supported by National Natural Science Foundation of China，Natural Science Foundation of Guang-dong Province，High School Scientific Innovation Project of Guangdong Province，Project Center Fund of Petrochemical Fault Diagnosing and Information Control of Guangdong High School，Doctor Startup Project of Guangdong University of Petrochemical Technology |
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| 摘 要： | 提出一种基于带观测器的条件状态反馈控制的仿人机器人相似性运动轨迹跟踪控制方法.首先,分析了7连杆双足机器人动力学模型,阐述了其运动能量方程与动力学特征方程; 其次,基于带观测器的状态反馈控制器原理,构建起三维倒立摆平衡控制模型; 最后,由线性二次型调节器确定状态反馈增益矩阵,使机器人轨迹跟踪误差最小化,以复现出较高相似度的双足步行运动效果.实验验证了该方法的有效性.
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| 关 键 词： | 仿人机器人 相似性 平衡 轨迹 |
| 收稿时间： | 2013-05-29 |
Study of Trajectory Tracking Control for Humanoid Robot Based on Similarity Locomotion |
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| KE Wen-De,PENG Zhi-Ping,CAI Ze-Su,PIAO Song-Hao,CHEN Ke.Study of Trajectory Tracking Control for Humanoid Robot Based on Similarity Locomotion[J].Acta Automatica Sinica,2014,40(11):2404-2413. |
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| Authors: | KE Wen-De PENG Zhi-Ping CAI Ze-Su PIAO Song-Hao CHEN Ke |
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| Affiliation: | 1.School of Computer and Electronic Technology, Guangdong University of Petrochemical Technology, Maoming 525000;2.School of Computer Science, Harbin Institute of Technology, Harbin 150001 |
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| Abstract: | A method of trajectory tracking control with similarity locomotion for humanoid robot based on state feedback controller with observer is proposed. Firstly, a dynamics model for a 7-link biped robot is analyzed, and the equations of movement energy and dynamics characteristics were illustrated. Secondly, the 3-dimensional inverted pendulum control model is constructed based on the state feedback controller with observer. Thirdly, a linear quadratic regulator is used to obtain the state feedback gain matrix, which makes the error of trajectory tracking minimal and reproduces the highly similar biped walking effect for robot. Experiments indicate the validity of the method. |
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| Keywords: | Humanoid robot similarity balance track |
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