| 引用本文: | 刘德君,田彦涛.双足步行机器人能量成型控制[J].控制理论与应用,2012,29(10):1301~1308.[点击复制] |
| LIU De-jun,TIAN Yan-tao.Energy shaping control of biped walking robot[J].Control Theory and Technology,2012,29(10):1301~1308.[点击复制] |
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| 双足步行机器人能量成型控制 |
| Energy shaping control of biped walking robot |
| 摘要点击 3102 全文点击 1445 投稿时间：2011-10-23 修订日期：2012-04-20 |
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| DOI编号 10.7641/j.issn.1000-8152.2012.10.CCTA111193 |
| 2012,29(10):1301-1308 |
| 中文关键词 能量成型 双足机器人 极限环 动能成型 角度不变控制 |
| 英文关键词 energy shaping biped walking robot limit cycle kinetic energy shaping angle invariant control |
| 基金项目 国家高技术研究发展计划(“863”计划)资助项目(2006AA04Z251); 国家自然科学基金资助项目(60974067)． |
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| 中文摘要 |
| 为了使双足被动行走机器人的行走步态符合仿生规律, 且当路面坡度变化后, 迅速进入新的稳定步态行走, 提出了角度不变能量成型控制策略. 研究了欠驱动双足机器人能量匹配条件和能量成型控制器的求解; 由于动能相对于旋转变换不具有对称性, 通过在能量成型控制中附加一个辅助控制量, 实现角度不变控制. 仿真结果表明, 该算方法可实现仿生控制, 既能扩大吸引域, 又改善系统的鲁棒性. |
| 英文摘要 |
| To make the walking gait of the biped passive robot accord with the bionic rules, and quickly enter a new steady-state after the road-slope changes, we propose a control strategy based on energy-shaping with invariant angle. The energy-matching condition has been studied; the energy-shaping controller is designed. Because the kinetic energy-shaping has no symmetry relative to the rotation transformation, the angle-invariant control is implemented by the auxiliary control in energy shaping. The simulation results show that this method realizes the bionic control and enlarge the attraction domain, and also improve the robustness. |