朱秋国, 伍浩贤, 吴俊, 熊蓉. 基于三连杆动力学模型的仿人机器人站立平衡控制[J]. 机器人, 2016, 38(4): 451-457. DOI: 10.13973/j.cnki.robot.2016.0451
引用本文: 朱秋国, 伍浩贤, 吴俊, 熊蓉. 基于三连杆动力学模型的仿人机器人站立平衡控制[J]. 机器人, 2016, 38(4): 451-457. DOI: 10.13973/j.cnki.robot.2016.0451
ZHU Qiuguo, WU Haoxian, WU Jun, XIONG Rong. Standing Balance Control of Humanoid Robot Based on Three-link Dynamic Model[J]. ROBOT, 2016, 38(4): 451-457. DOI: 10.13973/j.cnki.robot.2016.0451
Citation: ZHU Qiuguo, WU Haoxian, WU Jun, XIONG Rong. Standing Balance Control of Humanoid Robot Based on Three-link Dynamic Model[J]. ROBOT, 2016, 38(4): 451-457. DOI: 10.13973/j.cnki.robot.2016.0451

基于三连杆动力学模型的仿人机器人站立平衡控制

Standing Balance Control of Humanoid Robot Based on Three-link Dynamic Model

  • 摘要: 为了解决仿人机器人抗扰动站立平衡控制问题,提出了一种三连杆动力学模型作为仿人机器人的简化模型,该模型充分考虑了机器人腿部、身体和手臂的连杆分布质量,相比于传统的线性倒立摆模型或者飞轮倒立摆模型具有更高的精确性.基于这种模型,设计了仿人机器人的站立抗扰动平衡控制器.首先将仿人机器人模型简化为三连杆动力学模型,通过参数辨识方法获取结构化的参数,并经过线性化处理,将复杂的非线性动力学模型线性化.然后采用线性二次调节器(LQR)设计机器人的平衡控制器.实验在仿人机器人KONG-II上进行,通过将机器人踝关节设置成具有一定阻尼特性的欠驱动状态,来实现三连杆动力学模型的形式.实验结果对比了机器人采用两连杆动力学模型和三连杆动力学模型时的抗外力扰动性能,验证了本文方法的有效性和鲁棒性.

     

    Abstract: In order to solve the anti-disturbance control problem for humanoid robot standing balance, a three-link dynamic model is proposed as the simplified model of humanoid robot, in which the distributed mass of the leg, body and arm on their links is considered. Thus, the model will be more accurate than the traditional linear inverted pendulum or the plus flywheel model. Based on this model, an anti-disturbance controller is designed for humanoid robot standing balance. Firstly, the humanoid is simplified as the three-link model, the structural parameters are obtained by parameter identification method, and the complex nonlinear dynamics model is linearized by linearization. Then, the balance controller is designed by using the linear quadratic regulator (LQR). The experiments are carried out on the humanoid robot KONG-II, and the ankle joint is set up as an under-actuated state with certain damping characteristics to match the three-link model. By comparing the anti-disturbance performance of the robots with double-link dynamic model and with three-link dynamic model, the effectiveness and robustness of the proposed method are verified.

     

/

返回文章
返回