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两足步行机器人控制系统，提出了一种利用动物反射控制概念的控制系统。将步行机器人建模为时序机，其运动由一系列单反射运动组成。构造了具有三级控制器的递阶控制系统。作为扰动，考虑了两种外力：一种是幅值较大、作用时间较短的“脉冲力”，另一种是幅值较小、作用时间较长的“连续”力。研究了用于快速、可靠地感知各种干扰的步行机的状态变量，明确了作为触发步态从周期步态变为干扰补偿步态的状态变量的阈值。提出了补偿的概念和确定扰动补偿的反射运动的算法。搭建了一台质量为18 kg、总高度为0.66m、步长为0.25m、步行周期为133步/min的两足步行实验机控制系统，并进行了实验验证。利用所提出的控制系统，步行机成功地实现了避免翻滚和/或返回周期步态。

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.