未知不平整地面上的双足步行稳定控制

 针对未知的不平整地面环境,提出了双足机器人稳定步行控制算法,该算法由步态规划和传感器反馈控制两部分组成.采用被动倒立摆模型设计双足机器人的步态,使得双足机器人能够自然、节能的稳定行走.实时反馈控制用来适应地面环境的凹凸不平以及处理外部环境的扰动.控制器包括上身姿态控制、期望ZMP控制以及非线性落地控制三部分.双足机器人机构柔性的存在对机器人稳定性以及控制效果造成很坏的影响,甚至使反馈控制造成负面的效果,因此柔性的影响也被考虑到步行控制器的设计当中.利用双足机器人不平地面上的步行实验验证所提出步行控制算法的有效性.

Stability Control for Biped Walking on Unknown Rough Surface

For the biped walking on the rough surface,the stability control algorithm is proposed.It consists of a walking pattern generation and a sensory feedback control algorithm.The PIPM (Passive Inverted Pendulum Model) is developed for the gait generation.The generated waling pattern enables the biped robot to have a more natural and efficient walking.The online feedback controller is developed to deal with the unevenness of the environments and the unknown disturbances.The controller consists of a body attitude control,a desired zero moment point (ZMP) control and a nonlinear landing control.The flexibility of the biped robot harms to the stability and control effect so badly that it makes the feedback control yield negative effects to the walking stability.Therefore,the influence of the biped robot's flexibility is considered into the design of the walking control.Finally,the walking experiment for the biped robot walking on the uneven surface confirms the effectiveness of the proposed algorithm.