Dynamical analysis and performance evaluation of a biped robot under multi-source random disturbances
Dynamical analysis and performance evaluation of a biped robot under multi-source random disturbances
复制标题
多源随机扰动下双足机器人动力学分析与性能评估
DOI：
10.1007/s10409-014-0074-1
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发表时间：
2014
影响因子：
3.5
通讯作者：
Shi-Xi Yang
中科院分区：
文献类型：
--
作者：
Chun-Biao Gan;Chang-Tao Ding;Shi-Xi Yang
在两足步行过程中，为了在不可避免的不确定性因素引起的多源随机扰动中保持机器人的正常状态，通过反馈控制检测和调整机器人的姿态是至关重要的。建立了五连杆双足机器人的径向基函数(RBF)神经网络模型，将两个确定性扰动和一个随机不确定扰动与网络模型中的最优力矩混合，通过多个评价指标和一个特定的Poincaré映射来研究双足机器人的性能。与仿真结果对比，在最优输入下，系统响应随时间变化，而在扰动驱动情况下，系统输出波动较大。噪声输入的仿真结果还表明，摆动腿的动力学对膝关节输入的扰动的敏感性低于其他三个关节，两足动物的响应误差随着扰动程度的增加而增加，尤其是摆动腿的膝关节和髋关节的输出波动更大。
During bipedal walking, it is critical to detect and adjust the robot postures by feedback control to maintain its normal state amidst multi-source random disturbances arising from some unavoidable uncertain factors. The radical basis function (RBF) neural network model of a five-link biped robot is established, and two certain disturbances and a randomly uncertain disturbance are then mixed with the optimal torques in the network model to study the performance of the biped robot by several evaluation indices and a specific Poincaré map. In contrast with the simulations, the response varies as desired under optimal inputting while the output is fluctuating in the situation of disturbance driving. Simulation results from noise inputting also show that the dynamics of the robot is less sensitive to the disturbance of knee joint input of the swing leg than those of the other three joints, the response errors of the biped will be increasing with higher disturbance levels, and especially there are larger output fluctuations in the knee and hip joints of the swing leg.