Input torque sensitivity to uncertain parameters in biped robot
Input torque sensitivity to uncertain parameters in biped robot
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DOI：
10.1007/s10409-013-0025-2
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发表时间：
2013-05
影响因子：
3.5
通讯作者：
Changtao Ding;Shixi Yang;C. Gan
中科院分区：
文献类型：
--
作者：
Changtao Ding;Shixi Yang;C. Gan
输入力矩是维持机器人两足行走的主要动力，可以通过两足机器人的轨迹规划和动力学建模来计算。在两足步行过程中，由于动力学模型中主客观因素的影响，往往需要对输入力矩进行调整，以维持预先规划的稳定轨迹。以平面五连杆双足机器人为例，研究了不确定参数对输入力矩的影响。基于轨迹规划方法，利用三次样条曲线建立了双足机器人的运动学方程，并同时考虑了确定参数和不确定参数，完成了动力学建模。其次，引入了几种输入扭矩的评价指标，对输入扭矩对不确定参数的敏感性进行了分析。最后，在蒙特卡罗仿真的基础上，给出了机器人输入扭矩的评价指标值，并据此将机器人参数分为三类，即强敏感、敏感和几乎不敏感参数。
Input torque is themain power to maintain bipedal walking of robot, and can be calculated from trajectory planning and dynamic modeling on biped robot. During bipedal walking, the input torque is usually required to be adjusted due to some uncertain parameters arising from objective or subjective factors in the dynamical model to maintain the pre-planned stable trajectory. Here, a planar 5-link biped robot is used as an illustrating example to investigate the effects of uncertain parameters on the input torques. Kinematic equations of the biped robot are firstly established by the third-order spline curves based on the trajectory planning method, and the dynamic modeling is accomplished by taking both the certain and uncertain parameters into account. Next, several evaluation indices on input torques are introduced to perform sensitivity analysis of the input torque with respect to the uncertain parameters. Finally, based on the Monte Carlo simulation, the values of evaluation indices on input torques are presented, from which all the robot parameters are classified into three categories, i.e., strongly sensitive, sensitive and almost insensitive parameters.