一种欠驱动平面双足机器人变速控制策略

针对欠驱动平面双足机器人的行走速度控制难题,提出一种新的变速行走控制策略.该控制策略有两层结构,上层采用一种模糊融合的思路,根据给定速度产生参考步态,即由能稳定行走的已设计步态模糊融合出参考步态,再由PI控制器对参数进行平滑|底层由基于虚拟约束的反馈线性化方法实现轨迹跟踪,同时解决行走中的欠驱动问题,达到连续稳定变速的目的.仿真结果表明：与其他变速策略想比,该控制策略能在变速的同时改变步长,而且有更好的控制效果,也能很好地实现变速的连续性.

A speed control strategy for under-actuated planar biped robot

Aiming at the control problem of speed-changeable walking of under-actuated planar biped robot, a new speed control strategy which has a two-level structure was proposed. In the upper level, reference gait is produced according to the given speed, using the idea of parameters fuzzy fuse which obtains the reference gait by fusing those pre-designed parameters. Then PI controller is used to smooth those parameters of the reference gait. In the under level, the linear feedback based on virtual constrain is used to make the true joint curve follow the reference curve gradually. In the mean time, it can solve under-actuated problem in the walking. Simulation shows that, comparing to the other speed-changeable control strategy, this strategy can change speed and step length at the same time, has better control result, and can obtain the continuity of walking speed.