双足机器人动态上下楼梯的规划与控制

针对双足机器人上、下楼梯时的稳定行走问题,结合机器人动态上、下楼梯的约束条件,规划双足机器人动态上、下楼梯的步态,并提出了相应的稳定性控制策略。其中,机器人侧向平面采用保持机器人质心动态平衡的规划方法,通过调整躯干侧向最大偏移量,实现机器人侧向平面的稳定;机器人前进方向和重力方向采用三次多项式拟合的步态规划方法,通过传感器反馈的躯干姿态角及相应的角速度信息,结合楼梯台阶信息,调整机器人前进方向和重力方向质心的位置,保证机器人运动的稳定性。仿真结果验证了该方法的有效性。

Gait planning and control of a biped robot walking up and down stairs

Focusing on the walking stability of humanoid robot going up and down stairs, according to the restrains condition of the stairs, the gait for the biped robot climbing up and down stairs dynamically and the corresponding control policy for the biped robot walking stably were proposed. The gait planning method which kept the COM (Center of Mass) of the biped robot in the dynamic balance was proposed and the maximum displacement of the trunk was used to realize the stability of the biped robot in the lateral plane. Cubic polynomial fitting was used in the gait generation of the forward motion and gravity directions. In order to keep the motion stability of the biped robot in the frontal plane, the stairs information combining with the trunk posture angles and the corresponding angular velocity which were obtained from VG (Vertical Gyro), were used to adjust the COM position in the forward motion and the gravity directions. The validity of the proposed methods was verified by the simulations of the biped robot climbing up and down stairs dynamically.