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

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