变刚度双足机器人半被动行走控制研究

为研究半被动双足机器人的平面稳定行走控制问题。以三自由度变腿刚度的双足弹簧-质点模型为对象,采用变刚度弹簧所提供的力和髋关节的转动力矩作为行走动力源,并采用拉格朗日方法建立了系统的动力学方程。通过PD控制器设计髋关节转矩进而对上体的旋转角度进行控制,通过反馈线性化方法分别设计了双足机器人在单支撑和双支撑阶段因变弹簧刚度产生的控制外力。在理论分析的基础上,进行了仿真研究。结果表明：文中研究的路径跟踪控制方法可以实现双足机器人在水平面的稳定周期行走并且具有较强的鲁棒性。

Research on Quasi-passive Walking Control of Biped Robot With Variable Leg Stiffness

The stable control of quasi-passive biped robot on level ground is studied. The bipedal spring-mass model of three degrees of freedom with variable leg stiffness is studied as the object, the force supplied by the variable stiffness spring and the force of the moment of inertia provided by the hip joint are applied as the walking power source, and the dynamic equations is established by Lagrange method. The force of the hip joint is designed on the basis of the PD controller and the rotation angle of the upper body is controlled. The controlled force produced by the variable spring stiffness of the biped robot at the single and double support stages are designed by the feedback linearization method. The simulation results show that the method can realize the stable periodic walking of biped robot in the plane and the robustness is strong.