计算机应用研究2018，Vol.35Issue(1)：56-61,6.DOI:10.3969/j.issn.1001-3695.2018.01.011
基于脉冲推力的半被动双足机器人无模型神经网络控制
Model-free neural network control for quasi-passive biped robots based on impulsive push
摘要
Abstract
This paper studied the stable walking control of quasi-passive biped robots on level ground.Firstly,it used the simplest point-foot model as the dynamical model of the biped robot and applied an impulsive push to the stance leg preferably immediately before heel strike.Secondly,in view of the nonlinear characteristics of the biped robot model,it introduced the functional link artificial neural network (FLANN) control algorithm based on trigonometric function polynomials into the biped robot system,which was used to generate the toe-off impulse.Then it used the modal-free simultaneous perturbation stochastic approximation (SPSA) algorithm based on data driven to update the weights of the FLANN.Thirdly,it used Poincaré map to analyze the stability condition for the biped robot walking.Finally,based on theoretical analysis,it carried out computer simulations to validate the effectiveness of the proposed algorithm.Simulation results show that the proposed algorithm has better convergence performance than the iterative learning algorithm (ILC),and all the eigenvalues of the Jacobian matrix are inside the unit circle,so it satisfies the stability condition.关键词
双足机器人/半被动行走/脉冲推力/神经网络/无模型Key words
biped robot/quasi-passive walking/impulsive push/neural network/model-free分类
信息技术与安全科学引用本文复制引用
周亚丽,张奇志..基于脉冲推力的半被动双足机器人无模型神经网络控制[J].计算机应用研究,2018,35(1):56-61,6.基金项目
国家自然科学基金资助项目(11672044,11172047) （11672044,11172047）
北京信息科技大学教改项目(2016JGYB09) （2016JGYB09）
