Dynamic Synthesis of a Biped Walking Machine with Optimal Characteristics of Disturbance Compensation

为了开发对外界干扰具有快速响应的仿人步行机控制系统，提出了一种利用动物反射控制概念的控制系统。将仿人步行机模型化为一个顺序机，其运动由一系列单一的反射运动组成。构造了一个具有三级控制器的递阶控制系统。作为扰动，考虑了两种类型的外力，即具有大幅度和短作用时间的“脉冲”力和具有小幅度和长作用时间的“连续”力。步行机的状态变量的快速和可靠的传感器的每一个干扰已被调查和阈值的值作为触发器用于改变步态从周期性步态的干扰补偿步态已被澄清。本文提出了补偿的概念和确定反射运动的干扰补偿算法。研制了一台质量为18 kg、总高为0.66m、步长为0.25m、步行周期为133步/min的实验用仿人步行机的控制系统。该控制系统成功地实现了步行机的避免翻滚和/或恢复到周期性步态。

In order to develop control system with rapid response to external disturbances for a biped walking machine, a control system has been proposed which utilizes the concept of reflex control of animal A walking machine has been modeled as a sequential machine, and the motions of the walking machine are composed of a series of single reflex motions. A hierarchical control system with three level controllers has been constructed. As disturbances, two types of external forces have been considered, which are "impulsive" force with large magnitude and short action time and "continuous" force with small magnitude and long action time. State variables of a walking machine for rapid and reliable sensing of each disturbance have been investigated and the thresholds of their values used as the triggers for changing the gaits from periodic gait to disturbance compensation gait have been clarified. Concepts of compensation and algorithms of determining reflex motions for disturbance compensation have been presented. A control system for an experimental biped walking machine whose mass is 18 kg, total height is 0.66m, step length is 0.25m and walking cycle is 133 steps/min has been constructed and tested. The walking machine has successfully realized avoidance of tumbling andlor returning to periodic gait by means of the proposed control system.