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为了将双足机器人的混沌步态控制收敛到稳定的周期步态,提出一种控制策略.首先用庞卡莱截面法研究斜坡倾角变化对步态的影响,结果表明,坡度增大会导致倍周期步态到混沌步态的产生;然后以人类步行的生物力学为仿生依据,根据延迟反馈控制的基本思路,设计了自适应常值驱动与传感反馈相结合的仿生行走控制策略,并依据当前步和前两步初始状态对控制器参数进行逐步调节,最终将混沌步态控制收敛到周期步态.仿真结果表明了所提出算法的有效性.
In order to converge the chaotic gait control of a biped robot to a stable periodic gait, a control strategy is proposed.First, the influence of slope inclination on the gait is studied by using the Poincaré section method.The results show that the increase of the slope leads to a doubling period Gait to chaos gait. Secondly, based on the biomechanics of human walking, based on the basic idea of delayed feedback control, a biomimic walking control strategy combining adaptive constant-value driving with sensory feedback is designed. According to the current Step and the initial state of the first two steps are used to adjust the controller parameters step by step, finally the chaotic gait control converges to the periodic gait. The simulation results show the effectiveness of the proposed algorithm.