The invention belongs to field of robot walking control, and in particular relates to a delayed feedback-based biped robot walking non-monocyclic gait control method which is characterized by determining a perturbation parameter p among robot walking control parameters; determining a Poincare section, a target fixed point and a nominal parameter corresponding to target fixed point; building a linearized model at a monocyclic fixed point; determining the feedback gain Kf and feedback gain Kp of a delayed feedback controller; determining the limiting value of the maximum perturbation amount; setting an original state and control parameters of a robot, solving a perturbation parameter pi of a former step, and if the perturbation parameter pi does not exceed the limit of the maximum perturbation amount, executing the perturbation parameter; if the perturbation parameter pi exceeds the limit of the maximum perturbation amount, executing the nominal parameter p*; and when a swinging leg falls to the ground, stopping the current step, and controlling a next step. According to the delayed feedback-based biped robot walking non-monocyclic gait control method, the gait can be restrained step by step through parameter perturbation by adopting only one group of constant state feedback gain, an expected fixed point can be reached fast and stably, the non-monocyclic gait is realized, and the robot walking parameter range is enlarged.
Delayed feedback-based biped robot walking non-monocyclic gait control method
2016-02-17
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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