基于力控制的双足机器人行走受扰恢复研究

This proposal proposes to investigate the force control method and anti-disturbance strategy for biped walking robots. According to the experimental results of human walking with quantitative disturbance, the mechanism of balance recovery of human walking will be explored. Based on the above mechanism, force-position control strategy for biped robots will be designed. The joints of the support leg will be in the force control mode under the guidance of CoP (Center of Pressure) and virtual model, in order to improve the walking flexibility and energy efficiency of support legs. The joints of the swing leg will be in the position control mode under the guidance of desired foothold, and the swing leg will be coordinated to the desired foothold according to the inertial sensor mounted on the trunk, in order to achieve the adaptive control against external disturbances. Finite state machine model of biped dynamic walking will be designed, and the simulation platform of walking with perturbation will be constructed. A force controllable biped robot will be developed, and walking experiments with perturbation will be conducted to verify the theoretical method. This study will propose a perturbation recovery method for biped robots and the results can reveal the inherent mechanism of the human walking disturbed recovery, at the same time have a good prospect of application in humanoid robots.

提出对双足机器人的行走力控制方法和抗扰动策略进行系统研究。对人体行走进行定量扰动测试实验，探索人体行走受扰恢复平衡的控制机理，据此设计大扰动下的双足机器人力位混合控制策略：对支撑腿各关节采取以CoP(Center of Pressure)和虚拟模型为主导的力控制模式，以提高支撑腿的步行柔顺性和能效性；对摆动腿各关节采取以期望落脚点为主导的位置控制模式，根据安装在躯干上的惯性传感器信息来协调摆动腿向期望落脚点迈步，以实现对外部扰动的适应性控制。设计双足动态步行的有限状态机模型，构建行走受扰的动力学仿真平台，研制可进行关节力控制的双足机器人样机，进行步行受扰实验，验证理论方法。本项研究将会提出一种双足机器人行走受扰恢复的平衡控制方法，研究成果有望揭示人类行走受扰恢复的内在机理，同时在仿人机器人上具有很好的应用前景。

在行走过程中能够抵抗外部扰动对双足机器人具有重要意义，本项目对双足机器人的行走平衡控制方法和抗扰动策略进行了系统研究。项目首先设计了行走定量施扰装置，开展了人体行走定量扰动测试实验，研究了人体行走受扰恢复平衡的控制机理，据此设计大扰动下的双足机器人力位混合控制策略：对支撑腿各关节采取以CoP(Center of Pressure)和虚拟模型为主导的力控制模式，以提高支撑腿的步行柔顺性和能效性；对摆动腿各关节采取以期望落脚点为主导的位置控制模式，根据安装在躯干上的惯性传感器信息来协调摆动腿向期望落脚点迈步，以实现对外部扰动的适应性控制。设计了双足动态步行的有限状态机模型，构建行走受扰的动力学仿真平台，进行了双足机器人受扰恢复实验，实验结果验证了理论方法。本项研究结果在仿人机器人上具有很好的应用前景。