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针对双足机器人步行控制器的设计问题,基于生物学启发原理,提出一种基于中枢模式发生器(CPG)与稳定性分析相结合的多层次结构控制器设计方法.分析机器人的步行运动,给出双足运动描述.基于CPG理论设计多层次结构的步行控制器,应用极限环理论方法分析运动稳定性.在保证步行稳定的前提下,所提出的控制方法具有结构简单、通用性好、方便在线平滑修正等优点,步行仿真实验验证了所提出算法的有效性.
Aiming at the design problem of biped robot’s walk controller, based on the principle of biological enlightenment, a design method of multi-level controller based on central pattern generator (CPG) and stability analysis is proposed. The robot’s walking motion is analyzed, The paper gives a description of the bipedal motion.According to CPG theory, a multi-level walk controller is designed and the limit cycle theory is used to analyze the motion stability.Under the premise of stable walking, the proposed control method has the advantages of simple structure, good universality and convenience Online smoothing correction and so on. The walking simulation experiment verifies the effectiveness of the proposed algorithm.