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研究带有膝关节和髋关节的双足机器人在3D(three-dimensional)空间稳定行走的控制器设计.通过构建概循环拉格朗日函数,将双足机器人的3D动态系统解耦成前向和侧向两部分,对前向部分设计势能成型控制器,使前向获得稳定行走步态;用输出零动态控制器控制侧向,满足系统的动态解耦条件.仿真结果表明了所提出方法的有效性.
The controller design of walking biped robot with knee joint and hip joint in three-dimensional space is studied. By constructing the algebraic Lagrangian function, the 3D dynamic system of biped robot is decoupled into forward And the lateral two parts, the potential shape controller is designed for the forward part to obtain the steady walking gait in the forward direction and the lateral dynamic output controller to control the dynamic decoupling condition. The simulation results show that the proposed method Effectiveness.