两足溜冰机器人运动控制系统

摘要

研究了两足溜冰机器人的溜冰运动控制方法，提出了由关节空间的位置控制器、地面反作用力阻抗控制器组成的运动控制系统.溜冰机器人的阻抗控制通过改变支撑脚的负载阻抗来保证机器人以一定的柔性与地面接触.当相应腿处于摆动期和着地期时采用阻抗控制，其他阶段则采用计算力矩法，以此可以有效提高溜冰运动的姿态稳定性.运用所提出的溜冰运动控制方法，在溜冰机器人样机上实现了动态稳定下0.13m/s的溜冰运动.%　　We studied a motion control method for biped skating robots. The motion control system is composed of the position controller in the joint space and the ground reaction force controller. The impedance control is realized through changing the load impedance between the supporting leg and ground to maintain flexible contact. While the corresponding leg is in swing and supporting phases, the impedance control is adopted. Otherwise, the computed torque control is used. By the proposed motion control method, we have successfullydevelopedadynamicstableskatingmovementcontrollerwith aspeedof0.13m/s.