【摘要】 异构双腿行走机器人(BRHL)是一种全新的类人机器人模式。首先阐述了BRHL的概念及研究意义。基于分割建模思想,推导出BRHL运动学、动力学方程。针对高阶微分代数方程组动力学正解问题,提出了一种带误差反馈控制的预估-校正数值积分方法。最后探讨了BRHL的控制方法并进行了仿真计算。结果表明,一阶P型开闭环学习控制能够很好实现仿生腿对人工腿步态的跟踪。更多还原

【Abstract】 Biped robot with heterogeneous legs (BRHL) is a new pattern humanoid robot. The conception and research purpose of BRHL was detailed. Based on the idea of segmentation modeling, kinematics equations and dynamics equations were given. For the positive solution of the higher order differential-algebra equations, predictor-corrector numerical integration methods with error feedback control were proposed. In the end, the control method of BRHL was discussed and the simulation was given. The result indicates that the first order P-type open-closed loop iterative learning control can implement gait tracking well.更多还原