The Impulse Excitation Joint Servo Drive Design and Adaptive Backstepping Control of Humanoid Robots

摘要

This study aims to explore the humanoid robot joint servo drive integration design and adaptive backstepping control.To make the humanoid robot have explosive power as the human does,simply increasing the power output of the motor of a lightweight design cannot meet the demand of moving heavy objects and so on.Moreover,the backstepping control algorithm is designed to implement the dual-arm cooperative control.The joint servo drive is redesigned in the present study,which can drive the motor at a limitation state when needed output high-voltage pulse can stimulate the motor so that the motor can produce an instantaneous large torque.A miniature design scheme is presented in this study for the servo drive,explaining the design method of each part module.The experimental data illustrate that the servo drive can produce an output torque greater than the rate of the high-voltage pulse that stimulates the motor.Knowledge of the control of humanoid robot moving a heavy object has important practical significance.The present study provides a complete actual problem and exhibits a real practical use case which can be used to speed up the explosive humanoid robot arms.