發(fā)布時間：2018-04-11 15:23

  本文選題：欠驅(qū)動雙足行走 + 姿態(tài)平衡控制�。� 參考：《浙江大學(xué)》2017年碩士論文

【摘要】：雙足行走是腿足式機器人最重要的運動形式之一,快速穩(wěn)定的行走能力對機器人的實際應(yīng)用具有十分重要的意義。傳統(tǒng)基于ZMP判據(jù)的在線規(guī)劃方法已被廣泛地運用于雙足機器人的行走運動控制中。欠驅(qū)動行走作為雙足行走的重要研究方向之一,與基于ZMP方法的雙足行走的不同之處在它沒有穩(wěn)定的支撐域,行走運動具有更好的動態(tài)特性。本文基于平面雙足欠驅(qū)動機器人實驗平臺,研究欠驅(qū)動行走的運動控制問題。通過采用平面五連桿簡化模型,針對欠驅(qū)動行走提出了一種行走控制策略,并設(shè)計運動控制器。本文的主要貢獻有:1.圍繞欠驅(qū)動行走過程中身體姿態(tài)平衡問題,提出了反饋控制加前饋補償?shù)目刂破髟O(shè)計方法,實現(xiàn)身體姿態(tài)的平衡控制。2.圍繞欠驅(qū)動行走過程中擺動腿的運動控制與規(guī)劃的問題,提出了以系統(tǒng)狀態(tài)為自變量的運動規(guī)劃方法,并基于柔性關(guān)節(jié)的動力學(xué)方程設(shè)計腿部運動控制器,實現(xiàn)擺動腿的軌跡跟蹤。3.圍繞欠驅(qū)動行走中的速度估計與控制問題,提出了行走速度的估計方法,融合傳感器信息,對行走速度做出有效的估計。分析系統(tǒng)欠驅(qū)動量的動力學(xué)簡化模型,提出了根據(jù)行走速度在線調(diào)整步行參數(shù)的速度控制方法,實現(xiàn)行走速度的穩(wěn)定。
[Abstract]:Bipedal walking is one of the most important motion forms of legged robot. Rapid and stable walking ability is of great significance to the practical application of robot.The traditional online planning method based on ZMP criterion has been widely used in the movement control of biped robot.Underactuated walking is one of the important research directions of bipedal walking, which is different from bipedal walking based on ZMP method in that it has no stable support region, and the walking motion has better dynamic characteristics.Based on the experimental platform of planar biped underactuated robot, the motion control problem of underactuated walking is studied in this paper.By using the planar five-bar simplified model, a walking control strategy is proposed for underactuated walking, and a motion controller is designed.The main contribution of this paper is 1: 1.A controller design method based on feedback control and feedforward compensation is proposed to realize the balance control of body posture.In this paper, a motion planning method based on the state of the system is proposed to control and plan the motion of the swinging leg in the process of underactuated walking. The motion controller of the leg is designed based on the dynamic equation of the flexible joint.Track track of swinging leg. 3.Aiming at the problem of velocity estimation and control in underactuated walking, a method of velocity estimation is proposed, which combines sensor information and makes effective estimation of walking speed.This paper analyzes the dynamic simplified model of the underactuation of the system, and puts forward a speed control method to adjust the walking parameters online according to the walking speed to realize the stability of the walking speed.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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相關(guān)博士學(xué)位論文 前2條

1 湯卿;仿人機器人設(shè)計及步行控制方法[D];浙江大學(xué);2009年

2 繩濤;欠驅(qū)動兩足機器人控制策略及其應(yīng)用研究[D];國防科學(xué)技術(shù)大學(xué);2009年

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本文編號：1736553