双脚轮腿机器人的平衡控制方法基于摩擦料向前线性正方体调节器
Aimin Zhang1, Renyi Zhou2, Tie Zhang3
1GAC R&D Center, Guangzhou 511434, China.
Sensors (Basel, Switzerland)
|February 26, 2025
概括
这项研究引入了轮腿机器人的新型摩擦前进线性方位调节器 (LQR) 控制,通过补偿电机摩擦来显著改善平衡和稳定性. 这种新方法提高了机器人在具有挑战性的环境中的性能.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 机械电子学是什么意思 机械电子学
背景情况:
- 带轮腿的机器人可以在非结构化环境中提供适应性移动性,但由于低执行,它们面临平衡控制的挑战.
- 硬件特性,如电机摩擦,会对这些机器人的动态融合和稳定性产生负面影响.
研究的目的:
- 为带轮腿机器人开发先进的平衡控制方法,有效地解决电机摩擦问题.
- 在动态移动过程中增强轮腿机器人的稳定性,强度和融合速度.
主要方法:
- 基于机器人的动力学模型设计了一个线性方位调节器 (LQR) 控制器.
- 使用粒子集群优化 (PSO) 在恒定速度激发轨迹的数据上识别了斯特里贝克摩擦模型.
- 识别的摩擦模型作为前补偿被集成到LQR控制器中.
主要成果:
- 摩擦识别实现了约0.30的最小标准偏差,该模型与实际摩擦值密切匹配.
- 与基线LQR相比,摩擦前LQR算法表现出优异的收性能.
- 实验结果显示,振荡减少,收加速,在各种地形和干扰场景中提高稳定性和稳定性.
结论:
- 拟议的摩擦前进的LQR平衡控制方法有效地弥补了轮腿机器人中的电机摩擦.
- 这种方法显著提高了机器人的稳定性和动态性能,超过了传统的LQR控制.
- 该方法提供了一种强大的解决方案,用于在复杂环境中提高轮腿机器人的适应性和可靠性.
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