变刚度双足机器人半被动行走控制研究

doi:10.16182/j.issn1004731x.joss.19-0005

系统仿真学报 ›› 2020, Vol. 32 ›› Issue (8): 1588-1597.doi: 10.16182/j.issn1004731x.joss.19-0005

• 仿真模型/系统置信度评估技术 • 上一篇下一篇

变刚度双足机器人半被动行走控制研究

吴青青, 张奇志, 周亚丽

北京信息科技大学,北京 100192

收稿日期:2019-01-04 修回日期:2019-03-15 出版日期:2020-08-18 发布日期:2020-08-13
作者简介:吴青青(1993-),女,安徽安庆,硕士生,研究方向为双足机器人控制;张奇志(通讯作者1963-),男,辽宁阜新,博士,教授,研究方向为机器人控制;周亚丽(1956-),女,辽宁沈阳,博士,教授,研究方向为机器人控制及信号处理。
基金资助:
国家自然科学基金(11672044)

Research on Quasi-passive Walking Control of Biped Robot With Variable Leg Stiffness

Wu Qingqing, Zhang Qizhi, Zhou Yali

Beijing Information Science & Technology University, Beijing 100192, China

Received:2019-01-04 Revised:2019-03-15 Online:2020-08-18 Published:2020-08-13

摘要/Abstract

摘要： 为研究半被动双足机器人的平面稳定行走控制问题。以三自由度变腿刚度的双足弹簧-质点模型为对象,采用变刚度弹簧所提供的力和髋关节的转动力矩作为行走动力源,并采用拉格朗日方法建立了系统的动力学方程。通过PD控制器设计髋关节转矩进而对上体的旋转角度进行控制,通过反馈线性化方法分别设计了双足机器人在单支撑和双支撑阶段因变弹簧刚度产生的控制外力。在理论分析的基础上,进行了仿真研究。结果表明：文中研究的路径跟踪控制方法可以实现双足机器人在水平面的稳定周期行走并且具有较强的鲁棒性。

关键词: 半被动, 双足机器人, 变刚度, 转矩, 反馈线性化

Abstract: The stable control of quasi-passive biped robot on level ground is studied. The bipedal spring-mass model of three degrees of freedom with variable leg stiffness is studied as the object, the force supplied by the variable stiffness spring and the force of the moment of inertia provided by the hip joint are applied as the walking power source, and the dynamic equations is established by Lagrange method. The force of the hip joint is designed on the basis of the PD controller and the rotation angle of the upper body is controlled. The controlled force produced by the variable spring stiffness of the biped robot at the single and double support stages are designed by the feedback linearization method. The simulation results show that the method can realize the stable periodic walking of biped robot in the plane and the robustness is strong.

Key words: quasi-passive, biped robot, variable stiffness, torque, feedback linearization

中图分类号:

TP242

吴青青, 张奇志, 周亚丽. 变刚度双足机器人半被动行走控制研究[J]. 系统仿真学报, 2020, 32(8): 1588-1597.

Wu Qingqing, Zhang Qizhi, Zhou Yali. Research on Quasi-passive Walking Control of Biped Robot With Variable Leg Stiffness[J]. Journal of System Simulation, 2020, 32(8): 1588-1597.

参考文献 19

[1]	McGeer T. Passive Dynamic Walking[J]. International Journal of Robotics Research (S0278-3649), 1990, 9(2): 62-82.
[2]	Asano F, Yamakita M, Kamamichi N, et al.A Novel Gait Generation for Biped Walking Robots Based on Mechanical Energy Constraint[J]. IEEE Transactions on Robotics and Automation (S1552-3098), 2004, 20(3): 565-573.
[3]	Deng K, Zhao M, Xu W.Level-ground Walking for A Bipedal Robot with A Torso via Hip Series Elastic Actuators and Its Gait Bifurcation Control[J]. Robotics and Autonomous Systems (S0921-8890), 2016, 79: 58-71.
[4]	Ebrahimi A, Heydari M, Alasty A.Active Control of A Passive Bipedal Walking Robot[J]. International Journal of Dynamics & Control (S0020-7179), 2016, 5(3): 1-8.
[5]	Suzuki H, Lee J H, Okamoto S.Development of semi-passive biped walking robot embedded with CPG-based locomotion control[C]. International Conference on Ubiquitous Robots & Ambient Intelligence. Jeju: IEEE, 2017.
[6]	付欣. 欠驱动双足机器人运动控制研究[D]. 北京: 北京邮电大学, 2016.Fu Xin.Research on Motion Control of Underactuated Biped Robot [D]. Beijing: Beijing University of Posts and Telecommunications, 2016.
[7]	李宏扬, 孙中波, 田彦涛. 基于被动行走原理的双足机器人步态规划[J]. 吉林大学(信息科学版), 2016, 34(1): 80-84.Li Hongyang, Sun Zhongbo, Tian Yantao.Gait Planning of Biped Robot Based on Passive Walking Principle[J]. Journal of Jilin University, 2016, 34(1): 80-84.
[8]	左国玉, 刘旭. 基于弹簧负载倒立摆模型的仿袋鼠机器人稳定跳跃控制[J]. 控制理论与应用, 2018, 35(8): 1151-1158.Zuo Guoyu, Liu Xu.Stable jump control of imitation kangaroo robot based on spring loaded inverted pendulum model[J]. Control Theory and Applications, 2018, 35(8): 1151-1158.
[9]	周亚丽, 张奇志. 基于脉冲推力的半被动双足机器人无模型神经网络控制[J]. 计算机应用研究, 2018, 35(1): 56-61.Zhou Yali, Zhang Qizhi.Model-free Neural Network Control of Semi-passive Biped Robot Based on Impulse Thrust[J]. Application Research of Computers, 2018, 35(1): 56-61.
[10]	Blickhan R.The Spring-mass Model for Running and Hopping[J]. Journal of Biomechanics (S0021-9290), 1989, 22(11): 1217-1227.
[11]	Geyer H, Seyfarth A, Blickhan R.Compliant Leg Behaviour Explains Basic Dynamics of Walking and Running[J]. Proceedings of the Royal Society B: Biological Sciences (S0962-8452), 2006, 273(1603): 2861-2867.
[12]	Visser L C, Stramigioli S, Carloni R.Robust Bipedal Walking with Variable Leg Stiffness[C]// IEEE Ras & Embs International Conference on Biomedical Robotics & Biomechatronics. Rome: IEEE, 2012.
[13]	Seo J, Cho J, Park B Y, et al.Leg Mechanism Design for SLIP Model of Hydraulic Quadruped Robot[C]// International Conference on Ubiquitous Robots & Ambient Intelligence. Kuala Lumpur: IEEE, 2015.
[14]	周于, 付成龙, 陈恳. 具有弹性负载的单足机器人被动跳跃节能分析[J]. 吉林大学学报(工学版), 2016, 46(6): 1987-1994.Zhou Yu, Fu Chenglong, Chen Ken.Energy-saving Analysis of Passive Jumping of Single-legged Robots with Elastic Loads[J]. Journal of Jilin University, 2016, 46(6): 1987-1994.
[15]	雷昱. 基于SEA的双足机器人变刚度虚拟腿研究[D]. 哈尔滨:哈尔滨工业大学, 2015.Lei Yu.Research on Variable Stiffness Virtual Leg of Biped Robot Based on SEA[D]. Harbin: Harbin Institute of Technology, 2015.
[16]	Zhang Q, Xiao X, Guo Z.Power Efficiency-Based Stiffness Optimization of A Compliant Actuator for Underactuated Bipedal Robot[C]// International Conference on Intelligent Robotics & Applications. Switzerland: Springer, Cham, 2016.
[17]	孙欣然. 一种带有可变刚度柔性踝关节的双足步行机器人研究[D]. 哈尔滨: 哈尔滨工业大学, 2016.Sun Xinran.Research on a Biped Walking Robot with Variable Stiffness Flexible Ankle Joint [D]. Harbin: Journal of Harbin Institute of Technology, 2016.
[18]	赵江波, 薛塔, 王军政. 液压足式机器人单腿变刚度控制弹跳研究[J]. 北京理工大学学报, 2018, 38(10): 1051-1055.Zhao Jiangbo, Xue Ta, Wang Junzheng.Research on Single Leg Variable Stiffness Control Bounce of Hydraulic Foot Robot[J]. Transactions of Beijing Institute of Technology, 2018, 38(10): 1051-1055.
[19]	Hassan K Khalil.非线性系统 [M]. 3版. 朱义盛, 董辉, 李作州, 等译. 北京: 电子工业出版社, 2005: 373-403.Hassan K.Khalil. Nonlinear Systems [M]. 3 Edition. Zhu Yisheng, Dong Hui, Li Zuozhou, et al traslated. Beijing: Publishing House of Electronics Industry, 2005: 373-403.

变刚度双足机器人半被动行走控制研究

Research on Quasi-passive Walking Control of Biped Robot With Variable Leg Stiffness

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献 19

相关文章 15

编辑推荐

Metrics

本文评价

[1]	胡冰山, 程科, 陆盛, 喻洪流. 变刚度储能助力髋外骨骼设计及助力效果仿真[J]. 系统仿真学报, 2022, 34(5): 1090-1100.
[2]	龙艳琴, 乔贵方, 宋光明, 张颖, 程琳琳. 二维变刚度蛇形机器人的运动仿真与性能分析[J]. 系统仿真学报, 2022, 34(4): 759-767.
[3]	李晖, 解莹楠, 兰立奇. 基于反馈线性化的船舶舵鳍联合减摇MPC控制[J]. 系统仿真学报, 2020, 32(9): 1753-1761.
[4]	李睿, 吴迎年. 电动机功耗效率反馈线性化非线性控制器设计[J]. 系统仿真学报, 2019, 31(12): 2845-2852.
[5]	尹星, 袁登科, 甄永成, 邵仲书, 吕相杰. 基于SVPWM的永磁同步电机DTC技术[J]. 系统仿真学报, 2019, 31(11): 2535-2542.
[6]	牛玉广, 潘岩, 黄文渊. 基于神经网络的鱼群寻优和反馈线性化烟气脱硝控制[J]. 系统仿真学报, 2018, 30(7): 2707-2714.
[7]	夏鲲, 谭媛, 董斌, 卢晶. 一种动态抑制无刷直流电机换相转矩脉动方法[J]. 系统仿真学报, 2018, 30(2): 543-550.
[8]	罗浩源, 袁登科, 胡宗杰. 不同开关表下PMSM直接转矩控制性能仿真研究[J]. 系统仿真学报, 2018, 30(11): 4375-4386.
[9]	李新峰, 向东, 田兴华, 魏伟. 平面微重力模拟气浮系统的侧向力测量与处理[J]. 系统仿真学报, 2018, 30(10): 3746-3752.
[10]	夏鲲, 董斌, 卢晶. 非理想反电动势下无刷直流电机转矩波动研究[J]. 系统仿真学报, 2018, 30(1): 197-204.
[11]	朱俊杰, 刘浩然. 无刷直流电机三段式换相转矩脉动抑制仿真研究[J]. 系统仿真学报, 2017, 29(8): 1719-1725.
[12]	徐海东, 干苏, 任杰, 王斌锐, 金英连. 基于Hopf振荡器的四足机器人步态CPG调节[J]. 系统仿真学报, 2017, 29(12): 3092-3099.
[13]	秦晓飞, 刘杰, 李峰. SRM直接瞬时转矩系统抗饱和控制器设计[J]. 系统仿真学报, 2017, 29(12): 3160-3167.
[14]	屈晓波, 章卫国, 史静平. 开裂式方向舵非对称偏转控制分配方法研究[J]. 系统仿真学报, 2016, 28(3): 627-633.
[15]	张小平, 周艳红, 张铸. 矿用电机车开关磁阻电机传动系统控制策略研究[J]. 系统仿真学报, 2016, 28(11): 2771-2777.