| 不平整地面仿人机器人行走控制策略 |
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| 引用本文： | 帅梅,付成龙,杨向东,陈恳.不平整地面仿人机器人行走控制策略[J].机械工程学报,2006,42(8):1-6. |
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| 作者姓名： | 帅梅 付成龙 杨向东 陈恳 |
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| 作者单位： | 1. 北京航空航天大学自动化科学与电气工程学院,北京,100037;清华大学精密仪器与机械学系,北京,100084
2. 清华大学精密仪器与机械学系,北京,100084 |
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| 基金项目： | 国家高技术研究发展计划(863计划);中国博士后科学基金;清华大学-中大集团合作项目 |
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| 摘 要： | 针对仿人机器人行走于不平整地面会失稳倾倒的现象,提出基于Kane碰撞原理的在线调节控制算法。该调节算法可以实现快速的动力学解算,估算出仿人机器人遇到障碍时地面对腿部的冲击力大小,据此调节仿人机器人的腿部及躯干姿态参数,使机器人成功稳定行走过凸起或凹陷障碍。采用Matlab的Simulink工具,仿真验证了5杆仿人机器人模型基于Kane在线调节控制算法平稳行走过障碍的过程。
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| 关 键 词： | 仿人机器人 不平整地面行走 Kane碰撞原理 控制策略 |
| 修稿时间： | 2005年11月25 |
CONTROL STRATEGY ABOUT HUMANOID ROBOT STABLE LOCOMOTION ON UNEVEN GROUND |
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| SHUAI Mei,FU Chenglong,YANG Xiangdong,CHEN Ken.CONTROL STRATEGY ABOUT HUMANOID ROBOT STABLE LOCOMOTION ON UNEVEN GROUND[J].Chinese Journal of Mechanical Engineering,2006,42(8):1-6. |
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| Authors: | SHUAI Mei FU Chenglong YANG Xiangdong CHEN Ken |
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| Abstract: | Since a humanoid robot tends to tip over easily while walking on uneven terrain, an online regulating control algorithm is proposed based on Kane collision theory, to prevent humanoid robot from tipping over while walking on uneven ground. This regulating algorithm can compute the dynamic model of the robot rapidly, and can estimate the values of the impacting force acting on leg by ground. These data of impacting force can be used to adjust the gait of legs and torso for a humanoid robot to pass over the scraggy obstacle successfully. By using this algorithm, walking simulations of online control on a 5-link humanoid model are performed in the MATLAB/Simulink environment and the effectiveness of the proposed algorithm is illustrated. |
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| Keywords: | Humanoid robot Locomoting on uneven ground Kane collision theory Control strategy |
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