The invention relates to the technical field of robot control, in particular to a gait control method of an under-actuated biped walking robot, which comprises the following steps of: 1, establishing a kinetic model of the under-actuated biped walking robot; 2, establishing a virtual constraint, and substituting the virtual constraint into the dynamical model of the robot to obtain a zero dynamical model of the robot; 3, taking the minimum walking energy consumption of the robot as an objective function, establishing a nonlinear constraint optimization model, and solving the nonlinear constraint optimization model to obtain an ideal gait of the robot; and 4, based on the deviation between the current state of the robot and the ideal gait, establishing feedback control to control the gait of the robot. The method has the substantive effects that stable walking is realized by adjusting the swing time and the trunk angle of the robot in real time, feedback adjustment and control are performed based on the current state of the robot, and the method has stronger real-time response, can be used for gait control under the condition of large disturbance, and has a promotion effect on the practical application of the biped robot.
本发明涉及机器人控制技术领域,具体涉及一种欠驱动双足步行机器人的步态控制方法,步骤一,建立欠驱动双足步行机器人的动力学模型;步骤二,建立虚约束,将虚约束代入机器人的动力学模型,获得机器人的零动力学模型;步骤三,以机器人的步行能耗最小为目标函数,建立非线性约束优化模型,求解非线性约束优化模型获得机器人的理想步态;步骤四,基于机器人当前状态和理想步态的偏差,建立反馈控制对机器人的步态进行控制。本发明的实质性效果是:通过实时调节机器人的摆动时间与躯干角度来实现稳定步行,基于机器人的当前状态进行反馈调节与控制,具有更强的实时响应,可用于大扰动情形下的步态控制,对双足机器人的实际应用具有推动作用。
Gait control method of under-actuated biped walking robot
一种欠驱动双足步行机器人的步态控制方法
2021-06-08
Patent
Elektronische Ressource
Chinesisch
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