基于质心运动状态的双足机器人欠驱动步行稳定控制

doi:10.13973/j.cnki.robot.2017.0324

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姚道金, 王杨, 姚渊, 丁加涛, 肖晓晖. 基于质心运动状态的双足机器人欠驱动步行稳定控制[J]. 机器人, 2017, 39(3): 324-332.DOI: 10.13973/j.cnki.robot.2017.0324. YAO Daojin, WANG Yang, YAO Yuan, DING Jiatao, XIAO Xiaohui. Stable Control of Underactuated Bipedal Walking Based on Motion State of Center-of-Mass. ROBOT, 2017, 39(3): 324-332. DOI: 10.13973/j.cnki.robot.2017.0324.

摘要针对双足机器人欠驱动步行稳定控制问题，提出一种基于机器人质心（CoM）运动状态的前馈控制策略．首先，根据步行速度与步行稳定性的关系，提出一种基于步行速度的欠驱动步行稳定性直观表述并给予数学定义：如果机器人步行速度能够始终收敛于一个已被证明可维持步行的速度，则机器人步行处于稳定状态；然后，基于该直观表述的数学定义和人类变速步行时的步态特征，提出一种基于质心运动状态的前馈控制策略，控制策略以机器人质心水平速度作为系统输出，通过控制质心在单个步行周期内的位移，实现对质心水平运动速度的控制，进而实现稳定步行；最后，在混凝土和木板地面上，成功实现了平均步行速度0.178m/s、步幅为腿长0.31倍的欠驱动步行．试验结果表明：所提出的控制策略能够通过控制质心对理想速度的跟踪，实现欠驱动稳定步行．

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	姚道金
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	丁加涛
	肖晓晖

关键词 ：欠驱动步行, 前馈控制, 质心运动状态, 步行试验

Abstract：For the underactuated bipedal stable walking control, a feedforward control strategy based on the motion state of robot center-of-mass (CoM) is proposed. Firstly, an intuitive expression of the stability of underactuated walking based on the walking speed is proposed according to the relationship between walking speed and walking stability, and a mathematical definition is given as follows: if the robot walking velocity can always converge to a certain value which has been proved available for realizing at least one more cycle walking, then the robot walking is in a stable state. Secondly, inspired by the mathematical definition above and the gait characteristics of human variable-speed walking, a feedforward control strategy based on the motion state of CoM is proposed. The horizontal velocity of robot CoM is taken as system output, its control is achieved by controlling the displacement of CoM within a single walking cycle, and thus stable walking is realized. Finally, the underactuated bipedal walking with the average walking speed of 0.178 m/s and the step of 0.31 leg length is realized on the concrete and wood grounds respectively. The experiment results show that the underactuated stable walking can be realized with the proposed control strategy by controlling robot CoM to track the ideal velocity.

Key words： underactuated walking feedforward control motion state of CoM walking experiment

收稿日期: 2016-11-14 录用日期: 2017-05-12

TP24

基金资助:国家自然科学基金（51675385）

通讯作者: 肖晓晖,xhxiao@whu.edu.cn E-mail: xhxiao@whu.edu.cn

作者简介: 姚道金(1990-）,男,博士生.研究领域:双足步行稳定控制,仿生机器人.
王杨(1987-）,男,博士生.研究领域:非线性驱动器控制,双足步行机器人步行稳定控制.
姚渊(1993-）,男,硕士生.研究领域:仿生机器人,柔性驱动器.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0324 或 https://robot.sia.cn/CN/Y2017/V39/I3/324

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