A Study on Intelligent Dynamic Walking Control of Biped Robots Based on Sensor Information

本研究旨在实现机器人的三维动态双足运动。在人的动态行走中，不稳定的运动像倒立摆一样不断重复，形成一个整体的稳定极限环。本文提出了一种利用多传感器信息的分层控制策略，并通过双足机器人在台阶环境下的实验验证了该策略的有效性。(1)利用双支撑阶段的动力学运动方程，确定了有台阶情况下的最优转矩分布。在这种计算中，关节扭矩的总和在鞋底滑移等不发生的限制范围内被最小化。该转矩分布存储在控制计算机中，并用于行走实验。(2)由运动学方程推导出了有台阶情况下机器人系统角动量的最优变化。(3)利用上述转矩分布和角动量的最优变化，在连续上升楼梯上进行行走实验。

This study study aims at realizing 3D dynamic biped locomotion in a robot. In human dynamic walking, a stable limit-cycle is formed as a whole by repeating the unstable motions as an inverted pendulum. In this study, a hierarchical control strategy in which the information from many sensors was utilized was proposed, and its effectiveness was confirmed by experiments under the circumstamces with stairs using a biped robot.(1)The optimal torque distribution under the circumstance with stairs was decided by using the dynamic equations of motion during the double support phase. In this calculation, the summation of the joint torques is minimized within the limits in which the slippage of the sole and like do not happen. This torque distribution is stored in the control computer, and is used in the walking experiments.(2)The optimal variation of the angular momentum of the robot system under the circumstance with stairs was also derived from the dynamic equations of motion.(3)The walking experiments on the continuous ascending stairs were conducted by using the above torque distribution and the optimal variation of the angular momentum.