基于反馈控制的仿人机器人步态规划

摘要

为了解决仿人机器人离线步态规划中机器人难以跟踪期望步态的问题,建立了仿人机器人的简化三连杆模型,并运用拉格朗日力学对模型进行了动力学分析,包括机器人单腿支撑期和双腿支撑期以及整体步行模型,在此基础上,提出将混杂系统的输出作为机器人的规划步态函数,设计了反馈控制器来实时调整机器人的实际步态.仿真结果表明,所设计的反馈控制器能够很好地调整机器人步态.%In order to solve the problem that robot is difficult to track the desired gait in the hu-manoid robot off - line gait planning, create the three - link humanoid robot model and use La-grange mechanics to analysis the robot dynamics, including single leg support, double legs support and the overall support of the walk model, on this basis, propose hybrid system output as a function of the robot gait planning, design a feedback controller to adjust the actual robot gait in real time. The simulation results show that the designed feedback controller can adjust the gait well.