论文部分内容阅读
以欠驱动双足步行机器人为对象,提出一种基于落脚位置控制的运动控制算法,并对其行走控制过程进行动力学仿真。首先基于三维线性倒摆模型(3D-LIPM)控制机器人的落脚位置,建立其行走姿态的虚拟约束,利用有限时间收敛反馈控制器对行走过程进行控制,实现了机器人的动态稳定行走。最后结合MATLAB的符号运算、SIMULINK和虚拟现实技术对其控制过程进行运动学和动力学仿真。实验结果表明控制算法是可行的。
Aiming at the under-actuated biped walking robot, a motion control algorithm based on falling-position control is proposed and the dynamics of the walking control process is simulated. First, based on the 3D linear inverted pendulum model (3D-LIPM), the robot’s foothold position is controlled and the virtual constraint of the walking posture is established. The finite-time convergence feedback controller is used to control the walking process and the robot’s dynamic and stable walking is realized. Finally, the kinematics and dynamics of the control process are simulated with symbolic operation of MATLAB, SIMULINK and virtual reality technology. Experimental results show that the control algorithm is feasible.