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能力的双足步行机控制系统，利用动物反射控制的概念，提出了一种双足步行机控制系统。将步行机建模为顺序机器，将步行机的运动由一系列单反射运动组成。构造了一个具有三层控制器的分层控制系统。作为扰动，我们考虑了两种外力，一种是量级大、作用时间短的“脉冲”力，另一种是量级小、作用时间长的“连续”力。研究了快速、可靠地感知各种干扰的步行机状态变量，并明确了其值的阈值作为触发步态从周期步态转变为干扰补偿步态的触发因素。提出了补偿的概念和确定干扰补偿反射运动的算法。构建并测试了质量为18 kg、总高度为0.66m、步长为0.25m、行走周期为133步/min的实验双足步行机的控制系统。通过所提出的控制系统，该步行机成功地实现了避免翻滚和回归周期步态。

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.