机器人2009，Vol.31Issue(6)：599-604,6.
正弦驱动与传感反馈结合的双足机器人仿生行走控制
A Bionic Walking Control for Biped Robot Using Sinusoidal Input and Sensory Feedback
摘要
Abstract
A bionic walking control strategy for biped robot using sinusoidal input and sensory feedback is proposed. All joints are actuated by sinusoidal oscillator, which is simpler than coupled neural oscillators. Control parameters have clear physical meaning, and it is convenient to adjust walking pattern. Locomotion states of robot are characterized by sensory feedbacks, which play an important role in ensuring stable walking. Some key locomotion states, such as ground impact and knee impact, are used as phase feedback to reset joint torques and coordinate movement of different joints. The coupling among controller, robot, and environment is then realized. The actuating areas of torques are determined considering passive characteristic of joints from the perspectives of saving energy and imitating human beings. The simulation results show that stable walking with favorable energy efficiency and self-stability is obtained using this control strategy.关键词
双足机器人/正弦振荡器/传感反馈/相位重置/节能Key words
biped robot/ sinusoidal oscillator/ sensory feedback/ phase reset/ energy saving分类
信息技术与安全科学引用本文复制引用
王健美,付成龙,陈恳,黄元林..正弦驱动与传感反馈结合的双足机器人仿生行走控制[J].机器人,2009,31(6):599-604,6.基金项目
国家自然科学基金资助项目(50575119,50805082) （50575119,50805082）
国家863计划资助项目(2006AA04Z253) （2006AA04Z253）
清华大学摩擦学国家重点实验室自主研究课题(SKLT08B09). （SKLT08B09）
