共查询到18条相似文献,搜索用时 78 毫秒
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在经典双足被动步行动力学模型的基础上,分析环境和力学参数影响下机器人被动步行的全局稳定性。计算不同模型参数下被动步行稳定不动点,采用胞胞映射计算得到不同模型参数下该动力学模型稳定单周期步态的吸引区域。研究发现双足被动步行的鲁棒性与其环境、力学参数关系密切,同时提出估计不动点吸引域形状的2个度量:最小半径与最大半径。实验结果给出被动步行稳定区域与斜坡倾角和质量比值的关系,同时通过分析某些偏离不动点较大的稳定吸引胞,以及吸引域的最小半径与最大半径的变化趋势,反映了双足被动步态的鲁棒性。 相似文献
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针对现有的预测控制生成步行模式方法中忽略了参数间关系和参数取值范围的问题进行探讨.预测控制通过控制质心运动生成步行模式以实现ZMP目标轨迹跟踪,根据预测控制器模型研究参数间的关系,并通过极点分析讨论其取值范围,提出关键参数在容许取值范围内,可以保证系统的稳定性,并生成满足稳定步行的质心运动.通过仿真实验分析了在存在扰动情况下,关键参数取适当值,能够生成稳定的步行模式. 相似文献
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双足步行机器人的步态规划 总被引:5,自引:0,他引:5
主要研究了双足步行机器人的基本步态的建立过程,进行了参数化处理,提出了一种简单可行的步态规划方法,并对数据结果进行了仿真验证。仿真及试验结果表明,该文给出的方法能实现不同步速的连续动态步行。通过标准步态数据的建立,为实时步态规划校正和在线控制补偿算法奠定了基础。 相似文献
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一种双足步行机器人的步态规划方法 总被引:14,自引:0,他引:14
本文介绍了一种双足步行机器人的步态规划方法,以前向运动为例,详细介绍了先分阶段规划然后合成的方法,并讨论了行走过程中的冲击振动问题及减振措施,实验及仿真结果验证了这一规划方法的有效性。 相似文献
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对双足步行机器人用Solidworks进行了三维造型,通过利用Solidworks中motion模块对质心在Z轴方向的位移波动范围和运动轨迹进行分析,进而对腿部长短设计进行比较,并在此基础上提出了一种稳定性试验研究方案,为双足机器人稳定性的研究提供了一种新方法. 相似文献
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双足步行机器人能量成型控制 总被引:1,自引:0,他引:1
为了使双足被动行走机器人的行走步态符合仿生规律,且当路面坡度变化后,迅速进入新的稳定步态行走,提出了角度不变能量成型控制策略.研究了欠驱动双足机器人能量匹配条件和能量成型控制器的求解;由于动能相对于旋转变换不具有对称性,通过在能量成型控制中附加一个辅助控制量,实现角度不变控制.仿真结果表明,该算方法可实现仿生控制,既能扩大吸引域,又改善系统的鲁棒性. 相似文献
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无动力双足步行机器人控制策略与算法 总被引:2,自引:1,他引:1
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. 相似文献
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Robust Sliding-mode Control of Nine-link Biped Robot Walking 总被引:4,自引:0,他引:4
Spyros G. Tzafestas Thanassis E. Krikochoritis Costas S. Tzafestas 《Journal of Intelligent and Robotic Systems》1997,20(2-4):375-402
A nine-link planar biped robot model is considered which, in addition tothe main links (i.e., legs, thighs and trunk), includes a two-segment foot.First, a continuous walking pattern of the biped on a flat terrain issynthesized, and the corresponding desired trajectories of the robot jointsare calculated. Next, the kinematic and dynamic equations that describe itslocomotion during the various walking phases are briefly presented. Finally,a nonlinear robust control approach is followed, motivated by the fact thatthe control which has to guarantee the stability of the biped robot musttake into account its exact nonlinear dynamics. However, an accurate modelof the biped robot is not available in practice, due to the existence ofuncertainties of various kinds such as unmodeled dynamics and parameterinaccuracies. Therefore, under the assumption that the estimation error onthe unknown (probably time-varying) parameters is bounded by a givenfunction, a sliding-mode controller is applied, which provides a successfulway to preserve stability and achieve good performance, despite the presenceof strong modeling imprecisions or uncertainties. The paper includes a setof representative simulation results that demonstrate the very good behaviorof the sliding-mode robust biped controller. 相似文献
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五杆四驱动平面双足机器人动态步态规划与非线性控制 总被引:1,自引:0,他引:1
以五杆四驱动的平面双足步行机器人为对象,研究了其动态步行的时不变步态规划和限定时间的非线性控制策略.揭示了其模型的欠驱动和完全驱动的混杂和非光滑动力学特性,推导了其碰撞模型.基于虚拟约束的概念,提出时不变步态的输出函数解析设计方法,设计了反馈线性化控制器,将系统转化为双积分环节.然后采用限定时间控制器在一步内零化输出函数.仿真实验表明,动态步行趋于一个稳定的极限环,实现了规划的行走模式,验证了该方法的有效性. 相似文献
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It is well known that a biped robot needs actuators to walk stably on level ground. Till now, a biped robot with torso has needed at least two actuators to achieve this. Would it be possible for this kind of robot to walk on level ground with only one actuator? This paper responds in the affirmative and proposes a simple control strategy for a planar biped robot with torso. In this control method, there is only one low gain proportional-derivative (PD) controller between the torso and the stance leg, while the swing leg remains totally free. The PD controller utilizes states of both the torso (angle and angular velocity) and the stance leg. The numerical simulations show that, by adopting this controller, a planar biped robot with torso can walk stably on level ground, and that the robot can walk with a wide range of speeds and high energy efficiency by changing the control parameters. Four period-one gaits, one of which is stable while the other three are unstable, are found by simulations. According to the literature surveyed, we are the first to have a torso only driven biped robot walk stably on level ground. 相似文献
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The authors are engaged in studies of biped walking robots from thefollowing two viewpoints. One is a viewpoint as a human science. Theother is a viewpoint towards the development of humanoid robots.In this paper, the authors introduce an anthropomorphic dynamic bipedwalking robot adapting to the humans' living floor. The robot has tworemarkable systems: (1) a special foot system to obtain the positionrelative to the landing surface and the gradient of the surfaceduring its dynamic walking; (2) an adaptive walking control system toadapt to the path surfaces with unknown shapes by utilizing theinformation of the landing surface, obtained by the foot system. Twounits of the foot system WAF-3 were produced, a biped walking robotWL-12RVII that had the foot system and the adaptive walking controlsystem installed inside it was developed, and a walking experimentwith WL-12RVII was performed. As a result, dynamic biped walkingadapting to humans' floors with unknown shapes was realized. Themaximum walking speed was 1.28 s/step with a 0.3 m step length, andthe adaptable deviation range was from -16 to+16 mm/step in the vertical direction, and from-3 to +3° in the tilt angle. 相似文献
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文章首先指出二十四自由度双足机器人的控制器是该型机器人的核心,也是扩展该型机器人功能首先需要改进的部件,接着介绍了双足机器人的控制器硬件和软件的改进设计。文章比较详细地阐述了双足机器人步态轨迹控制与规划,并指出下一步的研究方向是如何控制双足步行机器人稳定地和健壮地在复杂环境里及粗糙地面上行走。 相似文献