计算机工程2018，Vol.44Issue(1)：30-34,43,6.DOI:10.3969/j.issn.1000-3428.2018.01.005
足式机器人小腿减振控制研究
Research on Control of Crus Vibration Attenuation for Biped Robots
摘要
Abstract
The stability control strategy of biped robot walking process is studied,and a crus vibration control system based on the vibration acceleration of the upper body of the robot as feedback is designed.Through virtual simulation analysis software——Automatic Dynamic Analysis of Mechanical System (ADAMS),the virtual prototype of the biped robot is built and imported into Matlab.The automatic anti-disturbance control algorithm is designed to suppress the low frequency and high frequency according to active and passive vibration attenuation.Simulation results show that active and passive vibration attenuation greatly reduces the vibration of the upper body of the robot and compensates the situation that passive vibration can not suppress the low frequency vibration,and effectively improves the stability of the robot.关键词
足式机器人/虚拟样机/主被动减振/自抗扰控制算法/机械系统动力学自动分析模型Key words
biped robots/virtual prototype/active and passive vibration attenuation/Active Disturbance Rejection Control(ADRC) algorithm/Automatic Dynamic Analysis of Mechanical System(ADAMS) model分类
信息技术与安全科学引用本文复制引用
张璐,毛伟伟,梁青,周烽..足式机器人小腿减振控制研究[J].计算机工程,2018,44(1):30-34,43,6.基金项目
中央高校基本科研业务费专项资金(WK2100100017). （WK2100100017）
