基于能量成型的双足机器人解耦控制 Biped robot decoupling control based on energy shaping期刊界 All Journals 搜尽天下杂志传播学术成果专业期刊搜索期刊信息化学术搜索

基于能量成型的双足机器人解耦控制

引用本文：	刘德君,田彦涛,张雷. 基于能量成型的双足机器人解耦控制[J]. 控制与决策, 2012, 27(12): 1890-1893

作者姓名：	刘德君田彦涛张雷

作者单位：	1. 吉林大学通信工程学院,长春130022;北华大学电气信息工程学院,吉林省吉林市132021 2. 吉林大学通信工程学院,长春,130022

基金项目：	国家863计划项目(2006AA04Z251);国家自然科学基金项目(60974067)

摘要：	研究带有膝关节和髋关节的双足机器人在3D (three-dimensional)空间稳定行走的控制器设计.通过构建概循环拉格朗日函数,将双足机器人的3D动态系统解耦成前向和侧向两部分,对前向部分设计势能成型控制器,使前向获得稳定行走步态；用输出零动态控制器控制侧向,满足系统的动态解耦条件.仿真结果表明了所提出方法的有效性.
关键词：	概循环拉格朗日角度不变能量成型零动态控制器
收稿时间：	2011-07-21
修稿时间：	2011-10-18
Biped robot decoupling control based on energy shaping

LIU De-jun,TIAN Yan-tao,ZHANG Lei. Biped robot decoupling control based on energy shaping[J]. Control and Decision, 2012, 27(12): 1890-1893

Authors:	LIU De-jun TIAN Yan-tao ZHANG Lei

Affiliation:	1(1.School of Communication Engineering,Jilin University,Changchun 130022,China;2.School of Electric and Information Engineering,Beihua University,Jilin 132021,China)

Abstract:	The walking stability controller is designed for researching the biped robots with knee and hip walking in 3D (three-dimensional) space. By constructing the almost-cyclic Lagrange function, the biped robot dynamic system is decoupled into sagittal and lateral portions. The potential molding controller is designed for the sagittal portion, so that the stable walking gait can be obtained. The output zero dynamic controller is used to control the lateral counterpart, which satisfies the dynamic decoupling conditions of the system. The simulation results show the effectiveness of the proposed method.

Keywords:	almost-cyclic Lagrangians\| angle invariant control\| energy shaping\| zero dynamics controller
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