变长度弹性伸缩腿双足机器人半被动起步行走仿人控制

doi:10.11772/j.issn.1001-9081.2021010175

《计算机应用》唯一官方网站 ›› 2022, Vol. 42 ›› Issue (1): 252-257.DOI: 10.11772/j.issn.1001-9081.2021010175

• 多媒体计算与计算机仿真 • 上一篇

变长度弹性伸缩腿双足机器人半被动起步行走仿人控制

张瑞, 张奇志(), 周亚丽

北京信息科技大学自动化学院，北京 100192

收稿日期:2021-01-29 修回日期:2021-07-09 接受日期:2021-08-02 发布日期:2022-01-11 出版日期:2022-01-10
通讯作者: 张奇志
作者简介:张瑞（1995—），男，河北衡水人，硕士研究生，主要研究方向：双足机器人控制
张奇志（1963—），男，辽宁阜新人，教授，博士，主要研究方向：机器人动力学与控制、图像处理
周亚丽（1968—），女，辽宁沈阳人，教授，博士，主要研究方向：机器人控制、信号处理。
基金资助:
国家自然科学基金资助项目(12172059)

Starting and walking human-like control of semi-passive bipedal robot with variable length telescopic legs

Rui ZHANG, Qizhi ZHANG(), Yali ZHOU

School of Automation，Beijing Information Science and Technology University，Beijing 100192，China

Received:2021-01-29 Revised:2021-07-09 Accepted:2021-08-02 Online:2022-01-11 Published:2022-01-10
Contact: Qizhi ZHANG
About author:ZHANG Rui， born in 1995， M. S. candidate. His research interests include bipedal robot control.
ZHANG Qizhi， born in 1963， Ph. D.， professor. His research interests include robot dynamics and control， image processing.
ZHOU Yali， born in 1968， Ph. D.， professor. Her research interests include robot control， signal processing.
Supported by:
National Natural Science Foundation of China(12172059)

摘要/Abstract

摘要：

传统双足机器人行走使用轨迹跟踪控制，而人类行走大部分时间处于被动状态。针对半被动变长度弹性伸缩腿双足机器人从静止状态开始起步行走的问题，提出了一种起步行走仿人控制方法。首先，使用串联弹性驱动双足弹簧负载倒立摆（B-SLIP）模型；然后，利用拉格朗日方法建立行走动力学方程，并利用模型的自稳定性在双支撑阶段采用能量误差比例积分（PI）反馈控制与惰性控制方法控制后腿伸缩，在单支撑阶段采用摆动腿回摆方法控制机器人的高度和前向速度。仿真结果表明，所提出的控制策略可使双足机器人在水平面上实现起步行走过程，并且对应的控制系统对于外部周期扰动力具有抗干扰能力。

关键词: 半被动, 双足机器人, 起步行走, 仿人控制, 弹簧负载倒立摆模型

Abstract:

Traditional bipedal robot walking is controlled by trajectory tracking， while human walking is in the passive state in most of the time. Aiming at the problem that the semi-passive bipedal robot with variable length telescopic legs starts to walk from a static condition， a starting and walking human-like control method was proposed. Firstly， a serial elasticity driven Bipedal Spring-Loaded Inverted Pendulum （B-SLIP） model was used. Then， the Lagrange method was used to establish the walking dynamics equation. With the self-stability of the proposed model， in the double support stage， the energy error Proportional-Integral （PI） feedback control and lazy control method were used to control the hind leg extension and contraction. In the single support stage， the swing-leg swing back method was used to control the height and forward speed of the robot. Simulation results show that the proposed control strategy can enable the bipedal robot to realize the starting and walking process on the horizontal plane， and the corresponding control system has anti-interference ability against external period disturbance force.

Key words: semi-passive, bipedal robot, starting and walking, human-like control, spring-loaded inverted pendulum model

中图分类号:

TP242.6

张瑞, 张奇志, 周亚丽. 变长度弹性伸缩腿双足机器人半被动起步行走仿人控制[J]. 计算机应用, 2022, 42(1): 252-257.

Rui ZHANG, Qizhi ZHANG, Yali ZHOU. Starting and walking human-like control of semi-passive bipedal robot with variable length telescopic legs[J]. Journal of Computer Applications, 2022, 42(1): 252-257.

图/表 9

图1 双足机器人Sun Robot

Fig. 1 Bipedal robot named Sun Robot

图2 双足机器人模型

Fig. 2 Model of bipedal robot

图3 无干扰下，总能量和速度随行走距离变化曲线

Fig. 3 Curves of total energy and speed varying with walking distance without disturbance

图4 无干扰下，系统初始状态偏差随行走距离变化曲线

Fig. 4 Curve of system initial state error varying with walking distance without disturbance

图5 无干扰下，τ值随行走距离变化曲线

Fig. 5 Curve of τ value varying with walking distance without disturbance

图6 无干扰下，髋关节高度和触地角随行走距离变化曲线

Fig. 6 Curves of hip joint height and touch-down angle varying with walking distance without disturbance

图7 文献［13］中机器人稳定行走阶段的系统输入

Fig. 7 System input of robot in stable walking stage in reference ［13］

图8 干扰下，总能量和输入随行走距离变化曲线

Fig.8 Curves of total energy and input varying with walking distance with disturbance

图9 干扰下，初始状态偏差随行走距离变化曲线

Fig. 9 Curve of initial state error varying with walking distance with disturbance

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变长度弹性伸缩腿双足机器人半被动起步行走仿人控制

Starting and walking human-like control of semi-passive bipedal robot with variable length telescopic legs

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