摘要： 针对双足机器人行走稳定性的优化控制问题,为保证双足机器人行走时上身平台的稳定性以利于传感器的正常工作,提出一种具有主被动联合减振抗冲功能的小腿结构设计方案。采用基于自抗扰控制算法的主动控制减振方法,并使用Matlab中的SimMechanics工具箱,建立双足机器人减振小腿机械仿真模型,通过主动和被动减振分别抑制低频和高频振动。仿真实验结果表明,主被动联合减振方法成功衰减了来自足部所受的冲击,弥补了传统被动减振无法有效抑制低频振动的情况,能够保障双足机器人上身平台的稳定性,为双足机器人稳定行走提供保障。

关键词: 双足机器人, 小腿设计, 主被动联合减振, 优化控制, 自抗扰控制算法, SimMechanics模型

Abstract: Aiming at the problem of the optimal control on biped robot’s walking stability,the scheme of active and passive vibration attenuation and landing impact elimination for crus structure design in biped robots is proposed,which can maintain stability of the upper platform to ensure sensor’s running conditions.The SimMechanics toolbox of Matlab is used to build the mechanical simulation model of the biped robot’s crus and the active vibration attenuation approach based on the Active Disturbance Rejection Control(ADRC) algorithm is applied to suppress low-frequency and high-frequency vibrations via the active and passive vibration attenuation respectively.Simulation results show that the active and passive vibration attenuation approach successfully attenuates the impact from the foot,and makes up for the disadvantage of traditional passive attenuation approach effectively.It can achieve stability of the upper platform of biped robot,which offers the basis for the stable walking of biped robots.

Key words: biped robot, crus design, active and passive vibration attenuation, optimal control, Active Disturbance Rejection Control(ADRC) algorithm, SimMechanics model

中图分类号: 

• TP273