双足机器人RCG姿态控制算法的研究

doi:10.3969/j.issn.0372-2112.2018.08.007

电子学报 ›› 2018, Vol. 46 ›› Issue (8): 1842-1848.DOI: 10.3969/j.issn.0372-2112.2018.08.007

双足机器人RCG姿态控制算法的研究

刘迪, 孔令文, 杜巧玲

吉林大学电子科学与工程学院, 吉林长春 130012

收稿日期:2017-05-26 修回日期:2018-01-01 出版日期:2018-08-25
- 通讯作者:
- 杜巧玲
- 作者简介:
- 刘迪女,1992年生于吉林延吉.吉林大学电路与系统硕士.研究方向为机器人步态控制;孔令文 男,1992年生于黑龙江双鸭山.吉林大学电路与系统硕士.研究方向为机器人步态控制.E-mail:konglw15@mails.jlu.edu.cn.
- 基金资助:
- 吉林省教育厅"十三五"科学技术项目 (No.JJKH20170800KJ）

Research on RCG Attitude Control Algorithm of Biped Robot

LIU Di, KONG Ling-wen, DU Qiao-ling

College of Electronic Science and Engineering, Jilin University, Changchun, Jilin 130012, China

Received:2017-05-26 Revised:2018-01-01 Online:2018-08-25 Published:2018-08-25
- Corresponding author:
- DU Qiao-ling
- Supported by:
- Science and Technology Program of Education Department of Jilin Province during the 13th Five-year Plan (No.JJKH20170800KJ)

摘要/Abstract

摘要： 稳定步行是仿人双足机器人开展实际作业的基础，也是研究的难点和热点.为了提高对仿人机器人步行失稳的响应速率和控制准确性，克服利用陀螺仪进行姿态测量及控制无法完整表述机器人运动状态，从而造成控制滞后的缺点.本文提出了RCG姿态控制算法，在以角速度和角度作为控制参量的模型基础上，引入机器人运动过程中的加速度作为姿态判断和调整的影响因子，实现对机器人行走过程的反馈控制，提高了双足机器人对失稳状态的响应速率和响应的准确性.通过对自主搭建的机器人样机进行测试，结果表明：当双足机器人步行失稳时，RCG姿态控制算法比以角速度和角度作为参量的控制算法能够更快速、准确的修正姿态偏差，保持姿态稳定.

关键词: 仿人机器人, 步态稳定, 控制算法, 姿态测量

Abstract: Stable walking is the foundation of humanoid robot in practical work,and is the key and hot topic of research.In order to improve the response rate and control accuracy of the humanoid robot's walking instability,the attitude measurement and control of the gyroscope can not be used to describe the movement state of the robot completely,which leads to the shortcomings of the control lag.In this paper,the RCG attitude control algorithm is proposed.Based on the model of angular velocity and angle as the control parameters,the acceleration of robot movement in the process is taken as the factor of attitude judgment and adjustment,and the feedback control of the robot walking process is realized.The response rate and response accuracy of the robot to the unstable state are improved.The test of RCG attitude control algorithm were carried using self-built robot prototype.The results show that RCG attitude control algorithm can correct attitude deviation more timely and accurately compared with the attitude of the control method only using angular velocity and angle,and maintain a stable attitude,when the biped robot is unstable.

Key words: humanoid robot, gait stability, control algorithm, attitude measurement

中图分类号:

TP242

刘迪, 孔令文, 杜巧玲. 双足机器人RCG姿态控制算法的研究[J]. 电子学报, 2018, 46(8): 1842-1848.

LIU Di, KONG Ling-wen, DU Qiao-ling . Research on RCG Attitude Control Algorithm of Biped Robot[J]. Acta Electronica Sinica, 2018, 46(8): 1842-1848.

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双足机器人RCG姿态控制算法的研究

Research on RCG Attitude Control Algorithm of Biped Robot

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