双足机器人动态行走时踝关节的力矩控制问题

TORQUE CONTROL PROBLEM OF ANKLE JOINT ON THE DYNAMIC WALKING BIPED ROBOT

  • 摘要: 本文从实现单-双脚支撑期的平滑过渡及减小前脚着地冲击的角度出发,分析了双足机器人动步态时踝关节的控制对连续、平滑行走带来的影响.指出为实现平滑过渡及减小冲击在踝关节上不宜采用高增益位置反馈控制,而应采用力矩反馈控制.本文给出了力矩反馈控制的实现方法.该方法无需复杂的软件、硬件支持,能满足实时控制的要求.采用本文的方法实现了HIT-13双足机器人稳定的动态行.

     

    Abstract: Proceeding from the angle of realizing smooth transition during single-double support phase and reducingshock of th forefoot contacting with the ground,this paper analyses the effect of the ankle joint control oncontinuous,smooth,dynamic locomotion of biped robot.It points out that torque feedback control shoud beadopted instead of high gain position feedback control in order to realize the smooth transition and reduceshock at the ankle joint.This paper presents the realization method of the torque feedback control.Thismethod need not be supported by complicated software or hardware,and can satisfy the demand of real-timecontrol.The stable dynamic walking of the HIT-13 biped robot has been fulfilled by adopting this method.

     

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