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Research on realization of the robust and high quality biped locomotion robot based on coprime factorization and kinematics control

基于互素分解和运动学控制的鲁棒高质量双足运动机器人的实现研究

基本信息

批准号：
07805042
负责人：
OHISHI Kiyoshi
金额：
$ 1.28万
依托单位：
Nagaoka University of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1995
资助国家：
日本
起止时间：
1995 至 1996
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07805042/
关键词：
Biped robot Coprime factorization Kinematics Two-degrees-of freedom control H^* control H∞制御

项目摘要

This research proposes a new dynamic gait control method of biped locomotion robot based on robust joint servo control. The method consists of two subjects. The first subject is the approximation of biped locomotion robot to the inverted pendulum for sagittal plane and lateral plane. The second subject is the constitution of dynamic gait control based on robust joint servo control and kinematics.The motion description in Cartesian space is determined from the motion of the inverted pendulum for sagittal plane and lateral plane. Suitability of the biped locomotion motion reference is confirmed by distribution of ZMP (Zero Moment Point). Using the inverse kinematics of biped robot, the biped locomotion motion references in Cartesian space is transformed to the position references in joint space. In joint space, the robust position control system consists of two-degrees-of-freedom control system based on coprime factorization and disturbance observer. Since the robust joint servo control system compensates the inertia variation and disturbance torque on dynamic gait control, this control system is suitable for the dynamic gait control of biped locomotion robot. The validity of the proposed method is confirmed by the experimental results.

提出了一种基于鲁棒关节伺服控制的双足机器人动态步态控制方法。该方法包括两个科目。第一个课题是双足运动机器人在矢状面和侧向面上对倒立摆的逼近。第二个主题是基于鲁棒关节伺服控制和运动学的动态步态控制的构成。由倒立摆在矢状面和侧向面的运动来确定其在笛卡尔空间中的运动描述。通过零力矩点（Zero Moment Point， ZMP）的分布来确定两足运动参考的适宜性。利用双足机器人的运动学逆解，将双足机器人在笛卡尔空间中的运动参考转化为关节空间中的位置参考。在关节空间中，鲁棒位置控制系统由基于素数分解和扰动观测器的二自由度控制系统组成。由于鲁棒关节伺服控制系统补偿了动态步态控制中的惯性变化和扰动力矩，因此该控制系统适用于双足运动机器人的动态步态控制。实验结果验证了该方法的有效性。