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1.
本文给出一种基于主-从控制实现双足机器人动步态行走的控制方法.该方法计算量小,可以在线规划步态及实现双脚支撑期平滑的动态切换.仿真及实验结果验证了方法的有效性及可行性,实现了变步态动态行走.实验所采用的装置为 HLTR—13双足机器人.该机器人重65kg,高1.1m,具有12个自由度.实验结果表明,本文给出的方法能较好地实现变步态动态行走。从而使机器人具有较强的环境适应能力. 相似文献
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Ching-Long Shih Chien-Jung Chiou 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》1998,28(2):244-249
This work studies the motion control of a statically stable biped robot having seven degrees of freedom. Statically stable walking of the biped robot is realized by maintaining the center-of-gravity inside the convex region of the supporting foot and/or feet during both single-support and double-support phases. The main points of this work are framing the stability in an easy and correct way, the design of a bipedal statically stable walker, and walking on sloping surfaces and stairs. 相似文献
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During dynamic walking of biped robots, the underactuated rotating degree of freedom (DOF) emerges between the support foot and the ground, which makes the biped model hybrid and dimension-variant.This paper addresses the asymptotic orbit stability for criterion for DVHS is also presented,
and the result is then used to study dynamic walking for a five-link
planar biped robot with feet. Time-invariant gait planning and
nonlinear control strategy for dynamic walking with flat feet is
also introduced. Simulation results indicate that an asymptotically
stable limit cycle of dynamic walking is achieved by the proposed
method. 相似文献
5.
Stability and control of dynamic walking for a five-link planar biped robot with feet 总被引:1,自引:0,他引:1
During dynamic walking of biped robots, the underactuated rotating degree of freedom (DOF) emerges between the support foot and the ground, which makes the biped model hybrid and dimension-variant. This paper addresses the asymptotic orbit stability for dimension-variant hybrid systems (DVHS). Based on the generalized Poincare map, the stability criterion for DVHS is also presented, and the result is then used to study dynamic walking for a five-link planar biped robot with feet. Time-invariant gait planning and nonlinear control strategy for dynamic walking with fiat feet is also introduced. Simulation results indicate that an asymptotically stable limit cycle of dynamic walking is achieved by the proposed method. 相似文献
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双足机器人的双脚支撑期是实现其步行运动的重要过程,然而耦合的位置/力控制难以保证其稳定平滑运动.本文提出了一种基于降阶位置/力模型的机器人控制策略,整合了位置控制子空间模型和力控制子空间模型,通过模型降阶减小了控制器设计的复杂度,并采用神经网络自适应控制方法综合多控制目标,实现了双足机器人的平滑稳定控制并有效地抑制了系统外扰和参数不确定性的影响.最后,仿真算法验证了该控制方法和模型的有效性. 相似文献
7.
Analytical techniques are presented for the motion planning and control of a 12 degree-of-freedom biped walking machine. From the Newton-Euler equations, joint torques are obtained in terms of joint trajectories, and the inverse dynamics are developed for both the single-support and double-support cases. Physical admissibility of the biped trajectory is characterized in terms of the equivalent force-moment and zero-moment point. This methodology has been used to obtain reference inputs and implement the feedforward control of walking robots. A simulation example illustrates the application of the techniques to plan the forward-walking trajectory of the biped robot. The implementation of a prototype mechanism and controller is also described. 相似文献
8.
模拟人的肌肉驱动方式,为双足机器人HEUBR-1 设计了二自由度的空间并联机构,并将其应用于双
足机器人HEUBR-1 下肢关节,实现了一种新的串并混联的仿人下肢结构.在HEUBR-1 的足部增加了足趾关节,使
机器人能够模拟人的行走方式,实现真正的拟人步态行走.阐述了双足机器人HEUBR-1 稳定拟人行走的关键性技
术,提出了综合稳定性判据,分析了拟人的多种步态.通过拟人行走步态实验分析,验证了双足机器人HEUBR-1 串
并混联的仿人结构的设计合理性及拟人步态分析的准确性. 相似文献
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Ching-Long Shih 《IEEE transactions on systems, man, and cybernetics. Part A, Systems and humans : a publication of the IEEE Systems, Man, and Cybernetics Society》1999,29(3):255-268
This paper synthesizes an efficient walking pattern for a practical biped robot when ascending and descending stairs. The main features of the biped robot include variable length legs and a translatable balance weight in the body. The biped robot's walk is a mixture of both statically stable and dynamically stable modes and relies on some degrees of static stability provided by large feet and by carefully controlling the center of gravity's position. The paper describes the design and experiment of a 7-DOF practical biped which is capable of ascending and descending stairs, and the synthesis of an efficient walking gait for ascending and descending stairs. Our biped robot is one of the few biped walking machines capable of ascending and descending stairs 相似文献
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欠驱动双足机器人在行走中为保持自身的平衡,双脚需要不间断运动.但在仅有特定立足点的离散地形上很难实现调整后的落脚点,从而导致欠驱动双足机器人在复杂环境中的适应能力下降.提出了基于虚拟约束(Virtual constraint,VC)的变步长调节与控制方法,根据欠驱动双足机器人当前状态与参考落脚点设计了非时变尺度缩放因子,能够实时重构适应当前环境的步态轨迹;同时构建了全身动力学模型,采用反馈线性化的模型预测控制(Model predictive control,MPC)滚动优化产生力矩控制量,实现准确的轨迹跟踪控制.最终进行了欠驱动双足机器人的随机离散地形稳定行走的仿真实验,验证了所提方法的有效性与鲁棒性. 相似文献
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This paper describes walking control algorithm for the stable walking of a biped humanoid robot on an uneven and inclined
floor. Many walking control techniques have been developed based on the assumption that the walking surface is perfectly flat
with no inclination. Accordingly, most biped humanoid robots have performed dynamic walking on well designed flat floors.
In reality, however, a typical room floor that appears to be flat has local and global inclinations of about 2°. It is important
to note that even slight unevenness of a floor can cause serious instability in biped walking robots. In this paper, the authors
propose an online control algorithm that considers local and global inclinations of the floor by which a biped humanoid robot
can adapt to the floor conditions. For walking motions, a suitable walking pattern was designed first. Online controllers
were then developed and activated in suitable periods during a walking cycle. The walking control algorithm was successfully
tested and proved through walking experiments on an uneven and inclined floor using KHR-2 (KAIST Humanoid robot-2), a test
robot platform of our biped humanoid robot, HUBO. 相似文献
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双足机器人的鲁棒控制 总被引:4,自引:0,他引:4
利用拉格朗日法建立了双足机器人的动力学模型.在双脚支撑地时,运动学方程的约束造成双足机器人自由度的冗余,本文引入拉格朗日因子消除了双足机器人的冗余自由度.采用鲁棒控制法对双足机器人的轨迹跟踪进行控制,仿真实验结果证明, 鲁棒控制法对模型不精确或外部干扰对双足机器人产生的影响有很好的抑制作用,对双足机器人轨迹跟踪控制是有效的. 相似文献
13.
An approach to analyzing biped locomotion problems is presented. This approach applies the principles of Lagrangian dynamics to derive the equations of motion of locomotion gaits, state-variable techniques to analyze locomotion dynamics, and multivariable feedback to design locomotion controls. A robot model which has no knee joints or feet and is constrained to motion in the sagittal plane is chosen as a sufficiently simple model of a biped to illustrate the approach. A goal of the analysis is the design of a locomotion control for the robot which produces a walking gait having a velocity and stride length similar to those of a human walking gait. The principle feature of the approach is a much deeper understanding of the dynamics of biped locomotion than previous approaches have provided. 相似文献
14.
《Advanced Robotics》2013,27(4):415-435
This paper describes position-based impedance control for biped humanoid robot locomotion. The impedance parameters of the biped leg are adjusted in real-time according to the gait phase. In order to reduce the impact/contact forces generated between the contacting foot and the ground, the damping coefficient of the impedance of the landing foot is increased largely during the first half double support phase. In the last half double support phase, the walking pattern of the leg changed by the impedance control is returned to the desired walking pattern by using a polynomial. Also, the large stiffness of the landing leg is given to increase the momentum reduced by the viscosity of the landing leg in the first half single support phase. For the stability of the biped humanoid robot, a balance control that compensates for moments generated by the biped locomotion is employed during a whole walking cycle. For the confirmation of the impedance and balance control, we have developed a life-sized humanoid robot, WABIAN-RIII, which has 43 mechanical d.o.f. Through dynamic walking experiments, the validity of the proposed controls is verified. 相似文献
15.
A combination of walking control methods was proposed and implemented on a biped robot. The LIPM-based model predictive control (MPC) was adopted to generate a basic stable walking pattern. The stability of pitch and yaw rotation was improved through pitch and yaw momentum control as a supplementation of MPC. It is found that biped robot walking tends to deviate from the planned walking direction if not considering the rotation friction torque in yaw axis under the support foot. There are basically two methods to control yaw momentum, waist and swing arms rotation control. However, the upper body is often needed to accomplish other tasks. Therefore, a yaw momentum control method based on swing leg dynamics was proposed. This idea does not depend on upper body’s motion and is highlighted in this paper. Through experiments, the feasibility of the combination of the control methods proved to be practical in keeping biped robot walking stable both in linear and rotation motion. The pros and cons of the yaw momentum control method were also tested and discussed through comparison experiments, such as walking on flat and uneven terrain, walking with different payloads. 相似文献
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通过已知质心精确反解计算仿人机器人各关节的角度是一个经常遇到的问题。在双足行走,平衡控制等领域都很常见。但对于自由度高的仿人机器人系统,质心逆运算比较困难,尤其在双足支撑情况下,问题变为一个多自由度的并联机构,此时需要额外的约束和限制条件,使得计算非常复杂。本文基于Levenberg-Marquardt算法来解决复杂关节的逆解问题,研究在给定踝关节的情况下,用假定质心固定身体上的简化模型来使得真实质心逼近目标点,然后通过重复逼近缩小误差。我们通过NAO仿人机器人模型上的模拟验证了该算法实现了较高的准确性和计算效率。 相似文献
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针对双足机器人面临的复杂环境下动态行走的适应性难题,提出了一种基于学习人类控制策略的双足机器人步态控制方法。利用三维线性倒立摆模型构造双足行走系统的状态方程,建立学习人类控制策略的参数化模型,设计了基于SVM的学习型控制器。该方法保证了躯干始终处于与地面近似垂直,增强了步态控制的鲁棒性,提高了双足机器人在复杂环境下行走的动态稳定性。实验验证了该方法的有效性。 相似文献
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针对双足机器人动态步行生成关节运动轨迹复杂问题,提出了一种简单直观的实时步态生成方案。建立了平面五杆双足机器人动力学模型,通过模仿人类步行主要运动特征并根据双足机器人动态步行双腿姿态变化的要求,将动态步行复杂任务分解为顺序执行的四个过程,在关节空间相对坐标系下设计了躯干运动模式、摆动腿和支撑腿动作及步行速度调整模式,结合当前步行控制结果反馈实时产生稳定的关节运动轨迹。仿真实验验证了该方法的有效性,简单易实现。 相似文献
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为了提高半被动双足机器人在水平地面上行走的稳定性,研究一种脉冲推力作用下半被动双足机器人的行走动力学行为.以最简单的特殊行走模型为动力学模型,采用支撑腿脚后跟脉冲推力作为双足机器人行走动力源.鉴于系统模型的高度非线性,将连续阶段的非线性微分方程线性化;利用角动量守恒和脉冲推力构造一个二维离散映射;采用离散映射的不动点及其特征值分析系统周期步态的存在性和稳定性;接着讨论系统的倍周期分岔.在理论分析的基础上,通过Matlab软件对半被动双足机器人的行走动力学进行仿真实验. 仿真结果表明,在水平地面上行走的半被动双足机器人具有稳定的周期-1步态和周期-2步态. 相似文献