控制理论与应用2011，Vol.28Issue(5)：667-674,8.
基于能效优化的两足机器人步态控制方法
Gait control based on energy-efficiency optimization for biped robots
摘要
Abstract
A gait control based on energy-efficiency optimization is proposed for solving the fatal problem of high energy consumption in practical application of biped robots. A strategy of energy consumption estimation(ECE) and an algorithm of energy-efficiency optimization are proposed based on three important indices of energy consumption for biped locomotion average mechanical power, mean power derivation and mean torque consumption. Controlling the gait of the robot along the trunk trajectory which corresponds to the minimal energy consumption in the zero moment point(ZMP) stability domain, we obtain the energy-efficiency gait guaranteeing the ZMP criterion. Simulation results show the validity of the method.关键词
能量效率/两足机器人/零力矩点/步态控制Key words
energy efficiency/ biped robot/ zero moment point/ gait control分类
信息技术与安全科学引用本文复制引用
王丽杨,刘治,曾小杰,章云..基于能效优化的两足机器人步态控制方法[J].控制理论与应用,2011,28(5):667-674,8.基金项目
国家自然科学基金资助项目(U0735003,60974047) （U0735003,60974047）
广东省自然科学基金资助项目(8351009001000002,9151009001000011) （8351009001000002,9151009001000011）
广东省科技计划资助项目(2009B010900051) （2009B010900051）
教育部霍英东青年教师基金资助项目(121061) （121061）
广东省高层次人才计划资助项目. （）
