| 欠驱动步态行走机器人基于反相同步的脉冲控制策略 |
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| 引用本文： | 李勇,杜巧玲,刘振泽,刘富.欠驱动步态行走机器人基于反相同步的脉冲控制策略[J].吉林大学学报(工学版),2011(Z2):292-295. |
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| 作者姓名： | 李勇 杜巧玲 刘振泽 刘富 |
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| 作者单位： | 吉林大学通信工程学院;吉林大学电子科学与工程学院 |
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| 基金项目： | 教育部博士学科点新教师基金项目(20090061120050);吉林大学科学前沿与交叉学科创新项目(450060445152,421033205410);吉林省科技发展计划项目(20100184) |
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| 摘 要： | 对机器人行走的一类混沌步态进行了修正并设计了新的运动模型,首次应用了机器人行走的反相同步控制方法,将机器人足底的碰撞等效为地面的脉冲作用力,使其产生新的对称步态。应用脉冲控制的方法实现对机器人行走步态的稳定控制,使机器人的混沌步态迅速收敛,从而实现稳定行走。仿真结果验证了算法的有效性。
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| 关 键 词： | 自动控制技术 脉冲控制 步态行走 反相同步 |
Impulsive control of passive compass-like biped robot based on anti-phase synchronization |
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| LI Yong,DU Qiao-ling,LIU Zhen-ze,LIU Fu.Impulsive control of passive compass-like biped robot based on anti-phase synchronization[J].Journal of Jilin University:Eng and Technol Ed,2011(Z2):292-295. |
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| Authors: | LI Yong DU Qiao-ling LIU Zhen-ze LIU Fu |
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| Affiliation: | 1(1.College of Communication Engineering,Jilin University,Changchun 130022,China;2.College of Electronic Science and Engineering,Jilin University,Changchun 130012,China) |
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| Abstract: | The paper focuses on the analysis of the stability of symmetric and asymmetric passive gaits of robot using a simple nonlinear biped model based on the anti-phase synchronization control strategy,and the plantar collision of robot was treated as impulsive force imposed by the ground.A new impulsive control method for chaos suppression has been developed as well as the establishment of some applicable criteria of eventually exponentially stability.The simulation results show the effectiveness of the control strategy. |
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| Keywords: | automatic control technology impulsive control compass-like biped anti-phases synchronization |
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