自适应踝关节扭矩控制让机器人在晃动地面上稳定行走
Adaptive Ankle Torque Control for Bipedal Humanoid Walking on Surfaces with Unknown Horizontal and Vertical Motion
- 引入中间指令轮廓，使自适应控制适用于步态切换的混合系统
- 在未知时变扰动下实现稳定行走与轨迹精确跟踪
- 适合研究足式机器人在复杂地面运动控制的学者
在表面运动未知的情况下实现双足机器人稳定行走仍是一个具有挑战性的控制问题，原因在于机器人与环境的混合、时变且部分未知的动力学特性，以及状态和表面运动估计的困难。表面运动同时带来系统参数不确定性和非齐次扰动。本文设计了一种自适应踝关节扭矩控制器，以同时应对这两类不确定性，并提出一种步长规划方法以最小化所需控制扭矩。通常自适应控制适用于连续系统，为将其应用于步行机器人的混合系统，本文引入中间命令轮廓以确保误差系统的连续性。在平面双足机器人上的仿真结果表明，相较于基线控制器，所提方法在未知时变扰动下能有效保证行走稳定性与轨迹跟踪精度。
原文摘要 · Abstract (English)
Achieving stable bipedal walking on surfaces with unknown motion remains a challenging control problem due to the hybrid, time-varying, partially unknown dynamics of the robot and the difficulty of accurate state and surface motion estimation. Surface motion imposes uncertainty on both system parameters and non-homogeneous disturbance in the walking robot dynamics. In this paper, we design an adaptive ankle torque controller to simultaneously address these two uncertainties and propose a step-length planner to minimize the required control torque. Typically, an adaptive controller is used for a continuous system. To apply adaptive control on a hybrid system such as a walking robot, an intermediate command profile is introduced to ensure a continuous error system. Simulations on a planar bipedal robot, along with comparisons against a baseline controller, demonstrate that the proposed approach effectively ensures stable walking and accurate tracking under unknown, time-varying disturbances.
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