自动化学报2016，Vol.42Issue(8)：1142-1157,16.DOI:10.16383/j.aas.2016.c150821
动态双足机器人的控制与优化研究进展
A Review of Optimal and Control Strategies for Dynamic Walking Bipedal Robots
摘要
Abstract
For the controllable periodic gait of dynamic walking bipedal robots, properties such as stabilities, robustness and optimal control strategies, and research status and development trend at home and abroad are explored in this paper. First of all, we introduce the dynamics mathematical model of the dynamic biped robot and present locomotion gait and control system theory for the dynamic walking bipedal robots. Secondly, we discuss the current research methods of controllable periodic gait stability for the dynamic walking bipedal robots and analyze the shortcomings of these methods;we also describe the controllable gait cycle optimization control strategy and illuminate both advantages and disadvantages of various strategies. Finally, we present challenges and future works for the dynamic biped robot research areas and give the idea of robust stability and the controllable gait cycle.关键词
动态双足机器人/脉冲混合动力系统/可控周期步态/鲁棒稳定性/最优控制策略Key words
Dynamic walking bipedal robot/hybrid dynamic systems with impulse effects/controllable periodic gait/robust stability/optimal control strategy引用本文复制引用
田彦涛,孙中波,李宏扬,王静..动态双足机器人的控制与优化研究进展[J].自动化学报,2016,42(8):1142-1157,16.基金项目
Manuscript received December 8,2015 （）
accepted April 28,2016国家高技术研究发展计划(863计划)(2006AA04Z251),国家自然科学基金(60974067),吉林大学“985工程”工程仿生科技创新平台项目,吉林大学研究生创新项目(2015116)资助 （863计划）
