异构双腿机器人仿生腿的设计与控制实现

提出具有可变瞬时转动中心的多轴膝关节,由多轴4联杆机构组成,具有仿生相似性·建立仿生腿的动力学方程,通过求解逆动力学问题的方法,得出最优步态下的膝关节控制力矩·通过传感器获得步态信息,从计算机中选择与该步态模式相应的力矩控制程序,每种步态模式由学习系统产生·选用磁流变阻尼器(MRDamper)组成的仿生腿反应迅速,动作灵活,与人工腿的步态更对称、更协调·

Design and Control of Bionic Limb of Biped Robot with Heterogeneous Legs

On the suggestion that a biped robot is equipped with heterogeneous legs of which one is bionic and the other is (artificial,) a mechanism scheme of multi-axis knee joint of the bionic leg was proposed, i.e., a four-bar linkage with instantaneous rotating center and bio-imitability. A dynamic model was thus established for the solution to inverse dynamic problem so as to obtain the control moments of knee joint for optimum gait patterns. Acquiring corresponding gait information by sensors, a moment control program was selected on computer, from which each and every gait pattern can be obtained by learning system. The bionic leg supported by MR damper responses rapidly and acts swiftly, especially is more symmetrical and harmonious than the gait of the artificial leg. The effectiveness of such a control has been proved by experiments.