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山东大学学报 (工学版) ›› 2022, Vol. 52 ›› Issue (4): 20-28.doi: 10.6040/j.issn.1672-3961.0.2022.106

• • 上一篇    

用于腿足式机器人落地缓冲的复合控制策略

刘斌1,张萌2   

  1. 1. 山东建筑大学信息与电气工程学院, 山东 济南 250101;2. 山东财经大学数学与数量经济学院, 山东 济南 250014
  • 发布日期:2022-08-24
  • 作者简介:刘斌(1986— ),男,山东济南人,副教授,博士,主要研究方向为机器人运动控制. E-mail: liubin19@sdjzu.edu.cn
  • 基金资助:
    国家自然科学基金资助项目(61903227,11801313);山东省自然科学基金资助项目(ZR2019QA007)

A hybrid control strategy for legged robot buffering in landing process

LIU Bin1, ZHANG Meng2   

  1. 1. School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 250101, Shandong, China;
    2. School of Mathematics and Quantitative Economics, Shandong University of Finance and Economics, Jinan 250014, Shandong, China
  • Published:2022-08-24

摘要: 针对腿足式机器人的腿部运动模式,提出一种变刚度落地缓冲策略,对机器人躯干质心处预期的冲击进行规划,针对不同落地阶段采用不同控制方式。在缓冲阶段,通过躯干加速度规划的方式计算预期足底力,将该力映射到关节空间。在其他阶段,采用比例微分(proportional differential,PD)控制与滑模控制(sliding mode control, SMC)相结合的方式,保证运动的快速性和稳定性,并用李雅普诺夫第二法证明稳定性。试验表明,机器人质心在1.65 m处下落,该方法可使足地冲击小于1.7g。此冲击力与人上台阶的冲击力相近,说明该方法可起到良好的缓冲效果。

关键词: 腿足式机器人, 缓冲策略, 柔顺控制, 稳定性分析, 复合控制

中图分类号: 

  • TP242.6
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[2] 隋斌,朱维申,李树忱 . 岩锚吊车梁轮压作用下的三维稳定性分析[J]. 山东大学学报(工学版), 2008, 38(1): 80-83 .
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