华中科技大学学报（自然科学版）2017，Vol.45Issue(10)：18-24,7.DOI:10.13245/j.hust.171004
欠驱动双足机器人稳定行走控制与策略
Stable walking control and strategy of under-actuated biped robot
摘要
Abstract
In order to solve the problem of fast dynamic walking of an under-actuated biped robot ,a stable walking control method and strategy was presented for a planar under-actuated biped robot . Firstly ,the dynamic characteristics of the model of an inverted pendulum model was analysed with body inertia and the attitude stabilizing controller was designed according to the dynamic model and the attitude information . T hen , the robot could keep the body posture stability in the continuous walking .Secondly ,according to the dynamics of under-actuated quantity and the feedback of walking velocity ,the walking velocity controller was designed .Through adjusting the steps ,the robot could realize continuous walking with stable speed .Finally ,the experiment was carried out on a biped walk-ing robot and the validity of the control strategy was verified .关键词
欠驱动动态行走/倒立摆模型/动力学模型/姿态平衡控制/速度控制Key words
under-actuated dynamic walking/inverted pendulum model/dynamic model/attitude con-trol/velocity control分类
信息技术与安全科学引用本文复制引用
朱秋国,李阳,彭勃,熊蓉..欠驱动双足机器人稳定行走控制与策略[J].华中科技大学学报（自然科学版）,2017,45(10):18-24,7.基金项目
国家自然科学基金资助项目 (51405430) （51405430）
国防科技创新特区资助项目 (1716311XJ00100501) （1716311XJ00100501）
浙江省公益技术资助项目 (2016C33G2010137 ) （2016C33G2010137 ）
中央高校基本科研业务费专项资金资助项目(2017QNA5011) . （2017QNA5011）
