|
|
Journal of Zhejiang University SCIENCE A
ISSN 1673-565X(Print), 1862-1775(Online), Monthly
2025 Vol.26 No.5 P.492-498
COM trajectory planning and disturbance-resistant control of a bipedal robot based on CP-ZMP-COM dynamics
Abstract: To date, in model-based gait-planning methods, the dynamics of the center of mass (COM) of bipedal robots have been analyzed by establishing their linear inverted pendulum model (LIPM) or extended forms. With regard to model-based gait-generation methods for uphill and downhill terrain, Kuo simulated human gait using an inverted pendulum, which provided a circular trajectory for the COM rather than a horizontal trajectory. He found that a horizontal COM trajectory consumed more muscle energy. Massah et al. utilized a 3D LIPM and the concept of zero moment point (ZMP). They developed a trajectory planner using the semi-elliptical motion equations of an NAO humanoid robot and simulated walking on various sloped terrains using the Webots platform.
Key words:
机构：1浙江大学机械工程学院，流体动力与机电系统国家重点实验室，中国杭州，310058;2浙江大学机械工程学院，浙江省先进制造技术重点实验室，中国杭州，310058
目的：通过对成人行走过程中矢状面与冠状面内质心轨迹的分析，本文探索双足机器人自由、灵活行走的步态规划方法，并实现对其受意外外力干扰下的稳定行走。
方法：在基于线性倒立摆模型的双足机器人运动控制中，质心、零力矩点和捕获点是实现双足机器人稳定行走的重要因素。1.通过对矢状面与冠状面内质心运动轨迹的分析，建立双足机器人CP-ZMP-COM动力学模型，由此计算期望的双足机器人质心、零力矩点和捕获点，进而提出一种改进的双足机器人质心轨迹规划方法；2.提出双足机器人在矢状面与冠状面内运动协调的抗扰动反馈补偿控制方法，对双足机器人质心和捕获点位置进行反馈补偿，使双足机器人质心和捕获点轨迹能够在后续支撑切换时逼近理想状态；3.通过小型双足机器人样机及其仿真模型，对改进的双足机器人质心轨迹规划方法及抗扰动反馈补偿控制方法进行行走仿真与实验验证。
结论：1.改进的双足机器人质心轨迹规划方法可用于实现小型双足机器人横行、斜行及原地转圈等灵活行走；2.基于所提出的抗扰动反馈补偿控制方法，小型双足机器人受随机脉冲外力下横行、斜行及原地转圈时仍能保持稳定而不摔倒。
关键词组：
References:
Open peer comments: Debate/Discuss/Question/Opinion
<1>
DOI:
10.1631/jzus.A2400062
CLC number:
Download Full Text:
Downloaded:
709
Download summary:
<Click Here>Downloaded:
18Clicked:
1109
Cited:
0
On-line Access:
2025-05-30
Received:
2024-02-02
Revision Accepted:
2024-06-05
Crosschecked:
2025-05-30