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针对仿人跑步机器人稳定性和控制策略的研究现状与发展趋势进行了探讨。首先,分析了仿人跑步模型的固有特性,包括单边约束特性、系统混杂特性和变拓扑结构特性,介绍了基于ZMP(Zero Moment Point)和零化角动量的稳定性判据以及基于庞加莱映射和极限环的稳定性判据,总结了基于轨迹规划的时变控制策略和基于虚拟约束的定常控制策略,并分析了2种控制策略各自的优缺点,指出仿人跑步机器人研究领域的难点问题和未来工作。最终目标是将这些稳定性判据和控制策略应用到仿人跑步机器人,以提高其跑步运动的性能。
The research status and development trend of the stability and control strategy of humanoid running robot are discussed. Firstly, the inherent characteristics of humanoid running model are analyzed, including unilateral constraint characteristics, system hybrid characteristics and variable topology characteristics. The stability criteria based on Zero Moment Point (ZMP) and nulling angular momentum are introduced, Lai mapping and the stability of the limit cycle, the time-varying control strategy based on trajectory planning and the stationary control strategy based on virtual constraints are summarized. The advantages and disadvantages of the two kinds of control strategies are analyzed respectively. Difficult problems and future work. The ultimate goal is to apply these stability criteria and control strategies to humanoid running robots to improve the performance of their running motions.