Stable Control of Underactuated Biped Walking on Discontinuous Ground
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摘要: 为实现双足机器人在真实非连续地面上的欠驱动稳定步行，基于自适应前馈控制算法提出一种变步长稳定步行控制策略．首先，针对机器人步行速度、稳定性以及质心运动轨迹的映射关系，引出一种基于质心运动状态的单输入-单输出自适应前馈控制算法，实现机器人在真实地面上的稳定步行．其次，从步行仿人性的角度出发，为消除地面非连续性对步行稳定性的影响，通过改变步长和质心理想跟踪速度设计变步长稳定步行控制策略，实现欠驱动双足步行机器人在真实非连续地面上的稳定步行．最后，通过对四连杆机器人模型的数值仿真，以及在木板和橡胶混合地面上的机器人样机试验，验证变步长稳定步行控制策略的有效性．试验结果表明：本文提出的变步长稳定步行控制策略能够实现在真实非连续地面上的欠驱动稳定步行．Abstract: In order to achieve underactuated stable walking of the biped robot on a discontinuous real ground, a variable step-length stabilized control strategy based on the adaptive feedforward control algorithm is proposed. Firstly, a single-input and single-output adaptive feedforward controller based on CoM (centre of mass) motion state is introduced according to the mapping relationship between robot walking speed, stability and CoM trajectory, to realize stable walking on the real ground. Secondly, a variable step-length stabilized control strategy is proposed from the view of imitating human walking, in order to eliminate the influence of the ground discontinuity on walking stability. The underactuated biped robot can walk stably on the real discontinuous ground by changing the step length and the ideal tracking speed of CoM. Finally, the validity of the variable step-length stabilized control strategy is verified by numerical simulation of the four-link robot model and the prototype experiment on the mixed wood/rubber ground. The experimental results show that the proposed variable step-length strategy can achieve underactuated stable walking on the real discontinuous ground.
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