| 引用本文: | 王丽杨,刘治,曾小杰,章云.基于能效优化的两足机器人步态控制方法[J].控制理论与应用,2011,28(5):667~674.[点击复制] |
| WANG Li-Yang,LIU Zhi,ZENG Xiao-jie,ZHANG Yun.Gait control based on energy-efficiency optimization for biped robots[J].Control Theory and Technology,2011,28(5):667~674.[点击复制] |
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| 基于能效优化的两足机器人步态控制方法 |
| Gait control based on energy-efficiency optimization for biped robots |
| 摘要点击 2319 全文点击 2352 投稿时间：2010-04-19 修订日期：2010-06-09 |
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| DOI编号 10.7641/j.issn.1000-8152.2011.5.CCTA100419 |
| 2011,28(5):667-674 |
| 中文关键词 能量效率 两足机器人 零力矩点 步态控制 |
| 英文关键词 energy efficiency biped robot zero moment point gait control |
| 基金项目 国家自然科学基金资助项目(U0735003, 60974047); 广东省自然科学基金资助项目(8351009001000002, 9151009001000011); 广东省科技计划资助项目(2009B010900051); 教育部霍英东青年教师基金资助项目(121061); 广东省高层次人才计划资助项目. |
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| 中文摘要 |
| 针对高能耗导致的两足机器人实用化障碍, 提出了一种全新的、系统化的步态能效优化控制方法. 基于两足机器人运动的重要能耗指标(平均功率、平均功率偏差、平均力矩损耗), 提出了能耗预估策略和能效优化算法, 获取了零力矩点(ZMP)稳定区域内的能耗极小值. 沿着能耗极小值所对应的上体轨迹对机器人步态实施能效优化控制, 最终获得满足ZMP稳定判据的低能耗步态. 仿真结果证明, 该方法能够有效降低机器人能耗并保持其稳定性. |
| 英文摘要 |
| A gait control based on energy-efficiency optimization is proposed for solving the fatal problem of high energy consumption in practical application of biped robots. A strategy of energy consumption estimation(ECE) and an algorithm of energy-efficiency optimization are proposed based on three important indices of energy consumption for biped locomotion average mechanical power, mean power derivation and mean torque consumption. Controlling the gait of the robot along the trunk trajectory which corresponds to the minimal energy consumption in the zero moment point(ZMP) stability domain, we obtain the energy-efficiency gait guaranteeing the ZMP criterion. Simulation results show the validity of the method. |