A Balance Control Strategy for a Walking Biped Robot under Unknown Lateral External Force using a Genetic Algorithm
A Balance Control Strategy for a Walking Biped Robot under Unknown Lateral External Force using a Genetic Algorithm
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DOI：
10.1142/s0219843615500218
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发表时间：
2015-05
期刊：
影响因子：
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通讯作者：
Yeoun-Jae Kim;Joon-Yong Lee;Jujang Lee
中科院分区：
文献类型：
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作者：
Yeoun-Jae Kim;Joon-Yong Lee;Jujang Lee
本文针对未知连续外力作用下的双足行走机器人，提出了一种抗力平衡控制策略。我们假设双足机器人具有12个自由度，关节电机为位置控制，并且在单支撑阶段（SSP）行走步态下，未知的连续外力作用于双足机器人的骨盆。建议的平衡控制策略有三个阶段。阶段1是仅使用零力矩点（ZMP）传感器识别未知外力的应用。第二阶段是采用遗传算法和线性插值技术对关节电机进行控制。针对一个连续的外力，机器人检索预先计算的解，并通过实时插值执行所需的扭矩。阶段3是使双足机器人从SSP移动到双支撑阶段（DSP），使用滑模控制器拒绝外部干扰。通过数值模拟和实验验证了该策略的有效性。
In this paper, we propose a force-resisting balance control strategy for a walking biped robot subject to an unknown continuous external force. We assume that the biped robot has 12 degrees of freedom (DOFs) with position-controlled joint motors, and that the unknown continuous external force is applied to the pelvis of the biped robot in the single support phase (SSP) walking gait. The suggested balance control strategy has three phases. Phase 1 is to recognize the application of an unknown external force using only zero moment point (ZMP) sensors. Phase 2 is to control the joint motors according to a method that uses a genetic algorithm and the linear interpolation technique. Against an external continuous force, the robot retrieves the pre-calculated solutions and executes the desired torques with interpolation performed in real time. Phase 3 is to make the biped robot move from the SSP to the double support phase (DSP), rejecting external disturbances using the sliding mode controller. The strategy is verified by numerical simulations and experiments.