机械与电子2024，Vol.42Issue(4)：29-32,38,5.
基于姿态信息的双足移动机器人越障步态控制
Gait Control of Biped Mobile Robot Based on Attitude Information
摘要
Abstract
In robot motion control,attitude information acquisition is an indispensable step,especially in robot gait control over obstacles.Therefore,a gait control method for biped mobile robot over obstacles based on attitude information is proposed.Under the two situations of legs swinging and ground collision,the dynamic model of biped mobile robot is created,and the walking change law of robot is obtained.The AdaBoost algorithm is used to classify the robot's attitude attributes,and the robot's attitude information perception is realized through the association index and bone densityto clarify the operator's intention to surmount obstacles.The camera is used to get the obstacle image data,and the feedforward compensation capability of neural network is used to control the robot's gait over obstacles.The experimental results show that the proposed gait control method has high accuracy and can improve the mobility of biped mobile robots.关键词
姿态信息/双足机器人/越障步态控制/动力学模型/神经网络Key words
attitude information/biped robot/gait control for obstacle crossing/dynamic model/neural network分类
信息技术与安全科学引用本文复制引用
刘晓铭,华定忠,张静,黄国方,钟亮民..基于姿态信息的双足移动机器人越障步态控制[J].机械与电子,2024,42(4):29-32,38,5.基金项目
国电南瑞科技项目资助(524608220021) （524608220021）
