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论文:2019,Vol:37,Issue(6):1285-1293 |
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引用本文： |
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董胜, 袁朝辉, 张建锐, 马尚君. 基于运动发散分量动力学的双足机器人行走策略研究[J]. 西北工业大学学报 |
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DONG Sheng, YUAN Zhaohui, ZHANG Jianrui, MA Shangjun. Study on Walking Strategy of Biped Robot Based on Dynamics of Divergent Component of Motion[J]. Northwestern polytechnical university |
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| 基于运动发散分量动力学的双足机器人行走策略研究 |
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| 董胜1, 袁朝辉1, 张建锐1,2, 马尚君3 |
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1. 西北工业大学 自动化学院, 陕西 西安 710129;
2. 陇东学院 机械工程学院, 甘肃 庆阳 745000;
3. 西北工业大学 机电学院, 陕西 西安 710072 |
| 摘要: |
| 基于线性倒立摆（LIP）模型，将双足机器人的多步行走等效成三维倒立摆的多次摆动，在运动发散分量（DCM）概念的基础上，研究了以质心（COM）和DCM表示的动力学方程。设计了2种DCM闭环控制器：一步DCM终值不变抗扰动控制器和实时DCM轨迹跟踪闭环控制器。2种控制器都可以有效地抑制扰动，使实际机器人的DCM不发散，并使用其规划出了双足行走过程中的COM轨迹。依据COM轨迹和双腿末端轨迹推导了求解双足机器人逆运动学的数值方法，整体上完成了双足行走过程中从输入脚印到输出关节角度的整套求解问题，使双足步态规划的方法体系化。最后，结合一个普适机器人模型，针对文中的算法在MATLAB平台上进行了仿真，仿真结果验证了该新方法的有效性。 |
| 关键词:
双足机器人
线性倒立摆
运动发散分量
步态规划
逆运动学
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| Study on Walking Strategy of Biped Robot Based on Dynamics of Divergent Component of Motion |
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| DONG Sheng1, YUAN Zhaohui1, ZHANG Jianrui1,2, MA Shangjun3 |
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1. School of Automatic Control, Northwestern Polytechnical University, Xi'an 710129, China;
2. College of Mechanical Engineering, Longdong University, Qingyang 745000, China;
3. School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| In this paper, based on the linear inverted pendulum (LIP) model, the multi-walking of biped robot is analogous to the multi-swing of a three-dimensional inverted pendulum. In terms of the concept of ‘divergent component of motion (DCM)’, the dynamic equations expressed by using Center of Mass (COM) and DCM are studied. Two DCM closed-loop controllers are designed:one-step DCM terminal invariant disturbance rejection controller and real-time DCM trajectory tracking closed-loop controller. Both controllers can effectively suppress the disturbance, so that the DCM of the actual robot does not diverge, and which is used to plan the COM trajectory of the biped walking process. Based on the COM trajectory and biped end trajectory, the numerical method for solving inverse kinematics of biped robot is studied. The whole set of solving problems from input footprint to output joint angle in biped walking process is completed, and systematize the method of biped gait planning. Finally, combining with a ubiquitous robot model, all the algorithms in this paper are simulated via MATLAB platform. The simulation results verify the effectiveness of the method. |
| Key words:
biped robot
linear inverted pendulum
divergent component of motion
gait planning
inverse kinematics
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| 收稿日期: 2018-12-05
修回日期:
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| DOI: 10.1051/jnwpu/20193761285 |
| 基金项目: 国家自然科学基金（51505381，61705184）、甘肃省高等学校创新能力提升项目（2019A-113）资助 |
| 通讯作者:
Email： |
| 作者简介: 董胜(1988-),西北工业大学博士研究生,主要从事液压伺服系统和智能机器人研究。
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参考文献: |
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