基于运动微分方程的两足步行机器人动姿态稳定控制方法

doi:10.13229/j.cnki.jdxbgxb.20231307

摘要/Abstract

摘要：

为使两足步行机器人在运行过程中保持稳定的动姿态，以较高的效率完成工作任务，提出了基于运动微分方程的两足步行机器人动姿态稳定控制方法。首先，建立两足步行机器人模型，确定其在世界坐标系和刚体坐标系中的坐标，并用齐次坐标的形式表示。其次，构建两足步行机器人动姿态稳定控制器，引入运动微分方程约束机器人的动姿态，使其在任何约束曲面中都能保持稳定。最后，将本文方法与另外两种算法展开对比实验测试，验证了本文方法具有极高的可行性和合理性。相较于其他算法，本文方法取得了更优秀的自平衡能力、抗干扰能力和动姿态稳定控制能力。

关键词: 运动微分方程, 动姿态稳定控制, 刚体坐标系, 世界坐标系, 约束曲面

Abstract:

In order to maintain a stable dynamic posture during the operation of biped walking robots and complete work tasks with high efficiency， a motion differential equation based dynamic posture stabilization control method for biped walking robots was proposed. Firstly，establish a biped walking robot model， determine its coordinates in the world coordinate system and rigid coordinate system， and express them in the form of homogeneous coordinates； Secondly，the dynamic attitude stability controller of biped walking robot is constructed， and the differential equation of motion is introduced to constrain the dynamic attitude of the robot， so that it can remain stable in any constrained surface；Finally，compared with the other two algorithms， the experimental results show that the proposed method is highly feasible and reasonable. Compared with other algorithms， the proposed method has better self-balancing ability， anti-interference ability and dynamic attitude stability control ability.

Key words: differential equations of motion, dynamic attitude stability control, rigid body coordinate system, world coordinate system, constrain surfaces

中图分类号:

TP25

赵春燕,彭景春. 基于运动微分方程的两足步行机器人动姿态稳定控制方法[J]. 吉林大学学报(工学版), 2024, 54(12): 3711-3716.

Chun-yan ZHAO,Jing-chun PENG. Dynamic attitude stability control method for biped walking robot based on differential equations of motion[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(12): 3711-3716.

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