变长度弹性伸缩腿双足机器人动力学与控制

研究了半被动双足机器人的平面稳定行走的控制问题.基于弹簧质点模型,采用拉格朗日方法分别得到双足机器人单支撑阶段与双支撑阶段的动力学方程,对机器人系统的动力学方程求得周期解.应用非线性系统状态反馈线性化理论,在双足机器人的单支撑阶段和双支撑阶段中,通过控制双足机器人的腿长度,实现稳定的周期行走.在理论分析的基础上,对控制算法进行了仿真与研究.结果表明:在周期行走过程中,文中采用的变长度控制算法可以使双足机器人克服外界的干扰,并具有较强的抗干扰性.

Dynamics and Control of Bipedal Robot with Variable Length Telescopic Legs

This paper studies the plane-stable walking control of quasi-passive biped robots. The biped robot system adopts the spring-mass model to obtain the dynamic equations of the single support phase and the double support phase within the system by using Lagrangian method, and obtain the periodic solution for the dynamic equation of the robot system. The controller design in this system is based on the nonlinear state feedback linearization theory, and achieves stable cycle walking by controlling the length of the telescopic leg of the biped robot. Based on the theoretical analysis, this paper simulates and studies the control algorithm. The simulation results show that the variable length control algorithm used in this paper can not only make the biped robot overcome the external interference during the period of walking, but also make it strong anti-interference.