仿生直立双足机器人的稳定性控制算法

摘要

仿生直立双足机器人共有7个旋转自由度，对其稳定性控制是保证双足机器人稳定行走和姿态变换的关键。传统方法中对仿生直立双足机器人的稳定性控制采用二自由度超外差控制方法，对直立双足机器人抓握和操控的运动规划效果不好。提出一种基于末端效应逆运动学分解的仿生直立双足机器人的稳定性控制算法，构建了仿生直立双足机器人运动学结构模型，采用末端效应逆运动学分解方法对机器人的运动学模型进行七自由度重构，在重构的运动学状态空间中实现仿生直立双足机器人稳定性控制，实现控制算法改进。仿真结果表明，采用该算法进行机器人稳定性控制，机器人行走过程中各个机构部件具有稳定运动学参量的输出，仿生双足机器人的控制机构参数仿真结果与理论值在一定的波动范围内相符，保证了机器人在行走和各种行为动作实施过程的姿态稳定性。%The bionic upright biped robot has a total of 7 rotational degrees of freedom,and stability control is the key to ensure the stability of the biped robot.Traditional bionic erect bipedal robot stability control using two degree of freedom superheterodyne control method is poor in motion planning for erect bipedal robot grasping and manipulation.This paper proposes a stability control algorithm of the bionic upright biped robot,based on the inverse kinematics of the end effect.The kinematics model of the robot is constructed by using the end effect inverse kinematics method.Then the robot's kinematics model is re-constructed with seven degrees of freedom.Simulation results show that the stability of the robot is con-trolled by the algorithm,the control mechanisms of the bionic biped robot are consistent with the theoreti-cal values in a certain range,and the attitude stability of the robot in the process of walking and all kinds of behaviors are ensured.