| 仿人机器人摆动脚落地碰撞补偿控制研究 |
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| 引用本文： | 赵建东,王自上,付成龙,陈恳.仿人机器人摆动脚落地碰撞补偿控制研究[J].北京交通大学学报(自然科学版),2009,33(1). |
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| 作者姓名： | 赵建东 王自上 付成龙 陈恳 |
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| 作者单位： | 北京交通大学机械与电子控制工程学院,北京,100044;清华大学精密仪器与机械学系,北京,100084 |
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| 基金项目： | 北京交通大学校人才基金，清华大学面向21世纪教育振兴行动计划（985计划） |
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| 摘 要： | 分析了仿人机器人摆动脚落地时的运动误差和摆动脚与地面的碰撞效应,提出了基于运动误差的摆动脚落地补偿控制策略,根据摆动脚距地面高度误差、摆动脚与支撑脚之间的步距误差,在线分级调整摆动腿髋、膝和脚踝关节前摆的运动角度,补偿摆动脚距地面高度和步距.样机实验证明,机器人摆动脚运动误差减小,实际落地时间趋近期望时刻,摆动脚与地面的碰撞冲击力减小且变化平缓,行走稳定性改善.
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| 关 键 词： | 仿人机器人 落地碰撞 运动误差 补偿控制 |
Compensating Control Based on Swing Foot Locomotion Error of Humanoid Robot for Diminishing Impact |
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| ZHAO Ji,ong,WANG Zishang,FU Chenglong,CHEN Ken.Compensating Control Based on Swing Foot Locomotion Error of Humanoid Robot for Diminishing Impact[J].JOURNAL OF BEIJING JIAOTONG UNIVERSITY,2009,33(1). |
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| Authors: | ZHAO Ji ong WANG Zishang FU Chenglong CHEN Ken |
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| Institution: | 1.School of Mechanical and Electronic Control Engineering;Beijing Jiaotong University;Beijing 100044;China;2.Department of Precision Instruments and Mechanology;Tsinghua University;Beijing 100084;China |
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| Abstract: | For diminishing the impact between swing foot and ground,the reason of swing foot locomotion error is analyzed,and a compensate control strategy is presented.Based on the pace error in sagittal plane and the landing height error,the movement degrees of pitch freedoms of degree of hip joint,knee joint,and ankle joint of swing leg are gradually compensated online.Prototype experiments prove that the controller can effectively reduce the locomotion error of swing foot,the actual landing time tends to be desire... |
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| Keywords: | humanoid robot impact locomotion error compensating control |
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