基于腿部关节控制的仿人机器人偏摆力矩控制方法-控制与决策.pdf

第31 卷 第1 期 控 制 与 决 策 2016 年 1 月 Vol. 31 No. 1 Control and Decision Jun. 2016 文章编号: 1001-0920 (2016) 01-0079-05 DOI: 10.13195/j.kzyjc.2014.1367 基于腿部关节控制的仿人机器人偏摆力矩控制方法 1,2 1 1 杨 亮 , 傅 瑜 , 何怀文 (1. 电子科技大学中山学院计算机学院，广东中山528402 ；2. 广东工业大学自动化学院，广州510006) 摘 要: 针对机器人步行过程中产生的偏摆力矩影响步行稳定性的问题, 提出一种全新的基于腿部关节控制的偏摆 力矩控制方法. 分析了偏摆力矩产生的原因及步行过程中垂直方向上的力矩平衡条件; 根据仿人机器人连杆模型和 力矩平衡条件, 将偏摆力矩控制问题转化为带约束条件的二次规划问题, 推导出支撑腿腿部关节角度控制的表达式, 设计了腿部关节自适应控制器以提高轨迹跟踪性能, 并给出了稳定性证明. 仿真结果表明, 该方法能较好地克服偏摆 力矩的影响, 使机器人实现稳定的步行. 关键词: 仿人机器人；偏摆力矩；腿部关节控制；自适应控制；零力矩点 中图分类号: TP242.6 文献标志码: A Yaw moment control method for humanoid robot based on leg joints control 1,2 1 1 YANG Liang , FU Yu , HE Huai-wen (1. School of Computer Engineering，Zhongshan Institute of University of Electronic Science and Technology of China，Zhongshan 528402 ，China ；2. School of Automation，Guangdong University of Technology，Guangzhou 510006，China ．Correspondent ：YANG Liang ，E-mail ：alex yangliang@) Abstract: In view of the problems of unstable walking caused by the undesired yaw moment when the humanoid robot walks, a yaw moment control method based on the leg joints control is proposed. The cause of yaw moment and moment balance conditions are analyzed. According to the link model of the humanoid robot and moment balance conditions, the yaw moment control problem is transferred to the problem of quadratic programming with constraints, and the control expressions of the leg joints angles are deduced. In order to improve the tracking performance, a leg joints adaptive controller is proposed and th