【摘要】 针对仿人机器人双足摆动行走时的稳定性优化控制问题,为保障行走过程中上身平台的稳定性以维持传感器件的正常工作,在具有主被动联合减振抗冲功能的仿人机器人小腿结构方案基础上,研究采用音圈电机作为振动主动控制作动器的减振控制方案。根据音圈电机的工作原理推导传递函数并建立小腿的数学模型,设计以反馈控制为基础的控制策略实现主被动联合减振。利用Simulink搭建仿真系统,以音圈电机为主动减振作动器的主被动联合减振控制策略成功衰减了来自足部的冲击。仿真结果表明,音圈电机作为主动减振作动器具有可行性,为双足机器人行走过程稳定性的优化提供了依据。更多还原

【Abstract】 In regard to the optimized control of stability when humanoid robot swings its feet back and forth to walk,in order to guarantee the stability of the upper body platform during walking process to keep the normal function of the sensor units,a vibration reduction design in which voice coil motor was used as active vibration control actuator has been studied on the basis of the calf structure scheme of the humanoid robot that has function of active-passive joint vibration reduction and anti-impact.Transfer function can be deduced based on the operating principle of voice coil motor and the mathematical model of the calf can be established to design a control strategy based on feedback control and achieve active-passive joint vibration reduction.Simulink was used to construct simulation system.The control strategy of active-passive joint vibration reduction using voice coil motor as active vibration reduction actuator has successfully attenuated the impact from the feet.The simulation results show that using voice coil motor as active vibration reduction actuator is feasible,which provides a support for the stability optimization during the walking process of biped robot.更多还原