發(fā)布時(shí)間：2018-01-28 11:53

  本文關(guān)鍵詞： 欠驅(qū)動(dòng)機(jī)器人 奔跑步態(tài)調(diào)節(jié) 推力-恢復(fù) 未知不平整地面　出處：《浙江大學(xué)》2015年博士論文　論文類型：學(xué)位論文

【摘要】：欠驅(qū)動(dòng)雙足機(jī)器人是實(shí)現(xiàn)高速高效雙足運(yùn)動(dòng)的良好平臺(tái),但其穩(wěn)定性與靈活性一直是控制領(lǐng)域的難點(diǎn)。現(xiàn)今快速奔跑欠驅(qū)動(dòng)機(jī)器人往往只具備單一固定步態(tài),缺乏對(duì)步長和步速的調(diào)節(jié),在受到外界擾動(dòng)或不平整地面環(huán)境時(shí)極易摔倒。針對(duì)這些難點(diǎn),本文以欠驅(qū)動(dòng)奔跑機(jī)器人為研究對(duì)象,設(shè)計(jì)了一系列欠驅(qū)動(dòng)控制策略并提出一類新的奔跑運(yùn)動(dòng)準(zhǔn)則,兼顧了欠驅(qū)動(dòng)機(jī)器人穩(wěn)定性與靈活性的運(yùn)動(dòng)指標(biāo)。本文研究的工作集中在以下三個(gè)方面： 首先,針對(duì)多自由欠驅(qū)動(dòng)機(jī)器人往往只具有單一步態(tài),難以進(jìn)行步態(tài)調(diào)節(jié)的缺陷,本文設(shè)計(jì)了欠驅(qū)動(dòng)自由度為2的四連桿被動(dòng)機(jī)器人,這個(gè)機(jī)器人在平整地面上存在一個(gè)不需要外部控制輸入的被動(dòng)極限環(huán)。在這個(gè)模型上結(jié)合受控的拉格朗日方法、基于事件的方法和能量成形控制,實(shí)現(xiàn)了欠驅(qū)動(dòng)自由度為2的奔跑機(jī)器人穩(wěn)定的步態(tài)調(diào)節(jié),增強(qiáng)了欠驅(qū)動(dòng)機(jī)器人的運(yùn)動(dòng)靈活性。 其次,機(jī)器人系統(tǒng)穩(wěn)定性要求其狀態(tài)為周期性極限環(huán),而靈活性允許其狀態(tài)為任意非周期軌跡。針對(duì)奔跑過程中穩(wěn)定性與靈活性要求的矛盾,本文提出一類新的奔跑運(yùn)動(dòng)性能指標(biāo)：奔跑持續(xù)性指標(biāo),以保證機(jī)器人能夠?qū)崿F(xiàn)持續(xù)的奔跑運(yùn)動(dòng)而不摔倒。這與機(jī)器人實(shí)際平穩(wěn)運(yùn)動(dòng)要求相符,為實(shí)現(xiàn)機(jī)器人靈活多樣的運(yùn)動(dòng)形式提供理論依據(jù)。在此指標(biāo)下提出了奔跑持續(xù)性準(zhǔn)則,基于彈簧-倒立擺模型研究機(jī)器人質(zhì)心位置、速度以及地面反作用力問的相互關(guān)系,并計(jì)算奔跑可行狀態(tài)的集合。當(dāng)機(jī)器人系統(tǒng)狀態(tài)始終在奔跑可行集內(nèi),機(jī)器人即進(jìn)行奔跑可持續(xù)運(yùn)動(dòng)。 最后,基于奔跑持續(xù)性準(zhǔn)則提出奔跑機(jī)器人在受擾環(huán)境下的平衡控制策略,根據(jù)受擾后的質(zhì)心速度和角度恒速著地碰撞策略設(shè)計(jì)平衡控制器,使得系統(tǒng)狀態(tài)始終沿著奔跑可行集的中心部分改變以適應(yīng)外部受擾環(huán)境,首次解決了欠驅(qū)動(dòng)機(jī)器人奔跑過程中的推力-恢復(fù)問題以及不平整地面環(huán)境的適應(yīng)問題。實(shí)驗(yàn)仿真結(jié)果驗(yàn)證欠驅(qū)動(dòng)機(jī)器人能夠在一步之內(nèi)達(dá)到新的奔跑可持續(xù)步態(tài),欠驅(qū)動(dòng)機(jī)器人在受擾環(huán)境下的平衡能力,是其真正適應(yīng)在人類物理環(huán)境的關(guān)建所在,推進(jìn)了欠驅(qū)動(dòng)機(jī)器人的實(shí)用化。 本文提出的控制器設(shè)計(jì)方法與奔跑持續(xù)性準(zhǔn)則,在相應(yīng)的各個(gè)章節(jié)給出了詳細(xì)的理論分析與數(shù)學(xué)仿真驗(yàn)證。
[Abstract]:Underactuated biped robot is a good platform to realize high speed and high efficiency biped motion, but its stability and flexibility are always the difficulties in control field. Nowadays, fast running underactuated robot usually only has a single fixed gait. Due to the lack of adjustment of step size and speed, it is easy to fall when disturbed by the outside world or uneven ground environment. In view of these difficulties, the underactuated running robot is taken as the research object in this paper. In this paper, a series of underactuated control strategies are designed and a new running motion criterion is proposed, which takes into account the stability and flexibility of the underactuated robot. The work of this paper is focused on the following three aspects: First of all, in view of the defects that multi-freedom underactuated robot usually has only a single gait and it is difficult to adjust gait, a four-link passive robot with underactuated degree of freedom of 2 is designed in this paper. The robot has a passive limit cycle on the leveling ground that does not require external control input. The model combines the controlled Lagrangian method, event-based approach and energy shaping control. A running robot with underactuated degree of freedom of 2 is realized, and the movement flexibility of the underactuated robot is enhanced. Secondly, the stability of the robot system requires its state to be periodic limit cycle, while the flexibility allows its state to be an arbitrary aperiodic trajectory. In this paper, a new performance index of running motion, running persistence index, is proposed to ensure that the robot can run continuously without falling down, which is in line with the requirements of the robot's steady motion. In order to provide a theoretical basis for the realization of flexible and diverse motion forms of the robot, a running persistence criterion is proposed under this index, and the center of mass position of the robot is studied based on the spring-inverted pendulum model. The relationship between the velocity and the ground reaction force is discussed, and the set of running feasible states is calculated. When the robot system state is always in the running feasible set, the robot can run sustainably. Finally, the balance control strategy of the running robot in disturbed environment is proposed based on the running persistence criterion, and the balance controller is designed according to the centroid velocity and angular impact strategy. The system state is always changed along the center of the running feasible set to adapt to the external disturbed environment. The thrust-recovery problem of underactuated robot and the adaptation of uneven ground environment are solved for the first time. The experimental results show that the underactuated robot can achieve a new sustainable running step in one step. State. The balance ability of underactuated robot in disturbed environment is the key point of its real adaptation to human physical environment, which promotes the practical application of underactuated robot. In this paper, the controller design method and running persistence criterion are presented, and detailed theoretical analysis and mathematical simulation are given in the corresponding chapters.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2015
【分類號(hào)】：TP242

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