Variable Compliance Control for 3 Dimensional Biped Robot considering Environmental Fluctuations
Variable Compliance Control for 3 Dimensional Biped Robot considering Environmental Fluctuations
复制标题
考虑环境波动的三维双足机器人变柔顺控制
DOI：
10.1541/ieejias.119.1507
复制
发表时间：
1999
影响因子：
--
通讯作者：
K. Ohnishi
中科院分区：
文献类型：
--
作者：
N. Nishikawa;Y. Fujimoto;T. Murakami;K. Ohnishi
由于双足机器人在行走过程中反复与环境发生碰撞，因此机器人与环境的关系是双足机器人控制的重要问题。双足机器人的控制一般采用位置控制。但位置传感器(视觉传感器、超声波传感器等)无法应对碰撞力和机器人无法感知的微小环境变化。为了实现与环境的稳定接触，机器人必须具有自身的柔度，为此，本文提出了一种具有可变柔度增益的三维双足机器人的柔度控制策略。该控制系统的目标是实现从单支承状态到双支承状态的平稳过渡。这个可变的顺应性增益值随着脚底的相互作用力而增加。这种可变的柔度增益将保持控制系统在自由运动和接触条件下的性能，并在调整双足机器人系统的刚度方面发挥重要作用。数值计算和实验结果证实了该方法的可行性。
The relation between the robot with the environment is very important issue for the biped robot's control because the collision with the environment occurs repeatedly during the walking motion. Generally, the position control is used for the biped robot's control. But the position control can not cope with the collision force and the small environmental variations which the robot can not sens by the position sensors (visual sensor, ultrasonic sensors, etc.). In order to realize the stable contact with the environment, the robot must have a compliance by itself.So in this paper, we propose a compliance control strategy for a three dimensional biped robot with variable compliance gain. The goal of this control system is to realize the smooth state transition from the single support phase to the double support phase. The value of this variable compliance gain increases with the interaction force at the bottom of the foot. This variable compliance gain will maintain the performance of the control system in the free motion as well as contact conditions and plays an important role in adusting the stiffness of the biped robot system. The feasibility of the proposed method was confirmed by several numerical and experimental results.