【摘要】 主从式双腿协调控制用于异构双腿行走机器人可减少规划量,控制的关键是步态轨迹跟踪.仿生膝关节使机器人步态更加仿人;但仿生腿模型复杂,跟随人工腿步态控制困难.P型开闭环迭代学习控制结合开环和闭环学习控制优点,不依赖于模型,适用于复杂机器人轨迹跟踪控制.从开闭环结合角度,证明了算法收敛性.算法在虚拟样机上的仿真表明算法有效、鲁棒性好且收敛速度优于单独开或闭环学习控制.更多还原

【Abstract】 The master-slaver dual-leg coordination control was used for biped robot with heterogeneous legs(BRHL) to simplify its planning scheme, of which the key of coordination is gait tracking control. Bionic knee joint enables the robot to walk more like human, but its modeling is complex and the control of bionic leg to track artificial leg is difficult. The P-type open/closed-loop iterative learning control (ILC) is therefore put forward to combine together the advantages of open-loop and closed-loop ILC without a model to rely on so as to fit the control of path tracking of complicated robot. The convergence of the algorithm proposed is proved and a simulation based on virtual prototype was done, of which the results showed that the algorithm is efficient and robust especially its converging speed is higher than individual open-loop or closed-loop ILC.更多还原