Underactuated biped robot excitation planning and control method

A technology of biped robot and control method, which is applied in the field of excitation planning and control of underactuated biped robot, can solve the problem that it cannot be stabilized, has no real-time underactuated biped robot excitation planning and control method, and is not completely controllable and other problems, to achieve real-time completion of planning and control, overcome trajectory planning and control problems, and achieve high real-time effects

Inactive Publication Date: 2010-08-11
NINGBO INST OF TECH ZHEJIANG UNIV ZHEJIANG
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Problems solved by technology

The underactuated system is an incompletely controllable system, and the general smooth state feedback control method cannot stabilize it
[0003] At present, many researchers are studying the situation where the passive joints (underactuated joints)

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  • Underactuated biped robot excitation planning and control method
  • Underactuated biped robot excitation planning and control method
  • Underactuated biped robot excitation planning and control method

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Embodiment Construction

[0016] The present invention will be further described below in conjunction with the drawings and specific embodiments.

[0017] General planning and control of under-actuated biped robots include joint (active and passive joints) angle position sensors, joint angle speed sensors, joint angle acceleration sensors, load cells, controllers and servo drives. The under-actuated biped robot of the present invention Incentive planning and control methods need to call these existing hardware.

[0018] The control process of the excitation planning and control method of the under-driven biped robot of the present invention is as follows:

[0019] (1) Establish the mathematical model of the under-actuated biped robot, and simplify the mathematical model to the system state equation. The mathematical model of the general under-actuated biped robot is simplified to the following mathematical model:

[0020] M aa M ap M pa M pp q · · a ...

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Abstract

The invention discloses an underactuated biped robot excitation planning and control method, which has the advantages of high real-time property and strong engineering practicability. The method comprises the following steps: (1) establishing a mathematic model and converting the mathematic model into a system state equation; (2) selecting an excitation signal; (3) inputting the excitation signal; (4) taking joint angle positions, joint angle speeds and joint angle acceleration obtained in the step (3) as given values, recording an angle excitation plan for a passive joint to be qpd and recording an actual output angle of an underactuated joint to be qp; (5) performing sampling according to a sampling period and calculating an actual underactuated joint angle qp, an underactuated joint angle speed and underactuated joint angle acceleration by using a sensor; (6) comparing qpd with qp in each sampling period to obtain an error, determining the error with an expression and performing sliding mode variable structure control correction so as to make e tend to zero; (7) outputting an active joint control variable ua after the operation of the sliding mode variable structure control correction; and (8) repeating the steps (3) to (7) to obtain the active joint control variables of each sampling period.

Description

Technical field [0001] The invention relates to the technical field of robot control, in particular to an excitation planning and control method for an under-actuated biped robot. Background technique [0002] The underactuated biped robot is an inherently nonlinear system, and the dynamic constraints are not integrable. It is a second-order non-holonomic system, and its trajectory planning and control are a difficult problem. Due to the lack of tracking capabilities for arbitrary state space trajectories, in under-actuated systems, the generation of motion trajectories is much more difficult than general conventional systems, and the achievability of the trajectory completely depends on the dynamic relationship. The under-driving system is a system that is not completely controllable, and the general smooth state feedback control method cannot stabilize it. [0003] At present, many researchers are studying the situation where passive joints (underactuated joints) contain brakes....

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 张智焕
Owner NINGBO INST OF TECH ZHEJIANG UNIV ZHEJIANG
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