一种类人机器人步行鲁棒控制器

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解仑, 王志良, 王冲, 许家铭. 一种类人机器人步行鲁棒控制器[J]. 机器人, 2010, 32(4): 484-490.. XIE Lun, WANG Zhiliang, WANG Chong, XU Jiaming. A Robust Walking Control System of Humanoid Robot. ROBOT, 2010, 32(4): 484-490..

摘要提出了一种应用于类人步行机器人研究平台的鲁棒控制算法，当机器人在步行过程中受到一定程度的外界冲力等干扰时，它可以使机器人自主达到动态平衡，而且该算法具有一定的实时性．通过一个九连杆的仿人平面机械系统，分析了机器人步行的动态过程；应用科氏力向量等建立起机器人步行的动力学模型，通过非线性补偿，得出其渐近稳定控制的约束性条件；进而构造出理想的李亚普诺夫函数，并应用遗传算法进行参数优化，设计出具备一定实时性能的鲁棒控制算法；仿真计算出机器人各个关节的角位移误差，其零力矩点(ZMP)始终在支撑脚的范围内，重心轨迹在地面的投影基本位于正弦曲线上．将该算法应用于实际的类人步行机器人行走控制中，实验证明，在受到一定程度的外扰影响时，该机器人可在短执行周期内自主达到动态平衡．

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	解仑
	王志良
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	许家铭

关键词 ：类人步行机器人, 鲁棒控制算法, 动态平衡, 参数优化, 实时

Abstract：A robust control algorithm is presented for the research platform of humanoid walking robot in order to realize dynamic equilibrium autonomously with real-time performance in the presence of external disturbances within a certain range.The robot dynamic walking process is depicted as an anthropomorphic planar mechanical system of nine links.The dynamics model of robot walking is constructed based on the Coriolis vector etc.,and the constraint conditions for asymptotic stability are obtained by means of non-linear compensation.Moreover,an ideal Lyapunov function is derived whose parameters are optimized with GA(genetic algorithm),and a real-time robust control algorithm is designed.The angular displacement error of each robot joint is calculated by simulation.The results show that the ZMP(zero moment point) is always within the range of supporting foot,and the projection of gravity center trajectory on the ground is a sine curve.The presented algorithm is applied to walking control of a real humanoid robot.The experiment results show that the robot can get to the dynamic stability autonomously in short executing epochs in the presence of external disturbances within a certain range.

Key words： humanoid walking robot robust control algorithm dynamic equilibrium parameter optimization real-time

收稿日期: 2009-10-16 录用日期: 2010-05-26

:	TP24
	TP18

基金资助:北京市重点学科建设项目（XK100080537）；国家863计划资助项目（2007AA04Z218）；中央高校基本科研业务费专项资金资助项目（FRF-BR-09-023B）

通讯作者: 解仑 E-mail: ygao@tsinghua.edu.cn

作者简介: 解仑（1968- ），男，博士，副教授．研究领域:智能机器人，嵌入式系统，电力电子技术，智能信息处理．
王志良（1956- ），男，博士，教授，博士生导师．研究领域:人工心理及情感计算，3C融合技术，智能机器人学和人机交互．
王冲（1985- ），男，硕士生．研究领域:双足机器人控制．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I4/484

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