期刊 适应非平整地面的双足机器人柔顺步态优化方法  

Gait planning optimization method for biped robots compliant walking on uneven terrain

作  者:钟浩然 李新宇[1] 高亮[1] 谢思诚 

ZHONG Haoran;LI Xinyu;GAO Liang;XIE Sicheng(State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,Wuhan 430074,China)

机构地区:[1]华中科技大学数字制造装备与技术国家重点实验室,湖北武汉430074

出  处:《华中科技大学学报:自然科学版》2021年第7期97-102,共6页

Gait planning optimization method for biped robots compliant walking on uneven terrain

基  金:国家重点研发计划资助项目(2018AAA0101704);国家自然科学基金资助项目(51721092);华中科技大学学术前沿青年团队资助项目(2017QYTD04)。

摘  要:为了实现双足机器人在不平整地面上的快速步行,提出一种基于优化的2D柔顺步态规划方法.基于腿部刚度和触地角,采用弹簧倒立摆模型建立机器人步行的参数化模型.考虑质心控制误差,提出一种适应位姿扰动的步态规划方法,允许机器人不必回到预设姿态就可以直接进入下一步态周期,使机器人更灵活.针对传统规划方法仅考虑质心在步态周期末端速度而导致的速度误差,提出一种速度补偿策略,控制整个步态周期速度,提高了连续步行的速度跟踪精度.将对腿部刚度和触地角的求解转化为优化问题,采用改进鲸鱼群算法进行求解,实现了对复杂环境的自适应.仿真结果表明:相较于传统方法,提出的方法可以实现更快速的步行,使机器人能在更复杂的地面上精确跟踪目标速度,连续平稳行走.

An optimization-based gait planning method for 2 D biped robots compliant walking on uneven terrain was proposed.Based on leg stiffness and contact angle,the spring-loaded inverted pendulum model was used to construct the biped walking model.By considering the control error,a gait planning metod that tolerated the posture error was proposed.Such method allowed the robot to skip the last gait phase and directly enter the next step cycle,therefore facilitating the flexibility.Moreover,conventional methods merely controlled the terminal speed of each step,leading to velocity tracking error.To cope with this issue,a velocity compensation strategy was proposed to control the average speed,which improved the velocity tracking accuracy in continuous walking.The determination procedure of leg stiffness and contact angle was converted to an optimization problem,which was solved by using the improved whale swam algorithm to obtain the optimal control parameters.Simulation results showed that,compared with conventional methods,the proposed method achieved improvements in both maximum walking speed and the adaptability to uneven terrain.

关 键 词:双足机器人 步态规划 变刚度 弹性倒立摆 参数优化 不平整地面 

biped robot gait planning variable stiffness elastic inverted pendulum parameter optimization uneven terrain 

分 类 号:TP242.2[自动化与计算机技术—检测技术与自动化装置]

 

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