一个强大的干扰拒绝全身控制框架,用于双脚机器人使用基于动量的观察者
Shuai Heng1, Xizhe Zang1, Yan Liu1
1State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China.
Biomimetics (Basel, Switzerland)
|March 26, 2025
概括
这项研究介绍了一种强大的规划器和控制器用于双脚机器人,改善了对干扰的步行稳定性. 它使用模型预测控制 (MPC) 和基于动量的观察器,消除了对足部传感器来估计外部力的需求.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 机械工程 机械工程
背景情况:
- 双脚机器人需要强大的控制策略来保持移动时的稳定性.
- 外部干扰对双脚机器人的性能和安全构成重大挑战.
- 目前的方法通常依赖于脚上安装的传感器来估计干扰,这限制了它们的适用性.
研究的目的:
- 为双脚机器人开发一个全面的计划器和控制器方案.
- 为了增强对外部干扰的强度,而不需要依赖脚上安装的传感器.
- 提高地面反应力估计和干扰补偿的准确性.
主要方法:
- 使用模型预测控制 (MPC) 的高层规划优化了根据运动的分离元件 (DCM) 优化了立足点位置和步骤持续时间.
- 低级控制采用基于动量的观察员来估计对立场和摇摆腿的外部力量.
- 将全身动力学和估计的干扰整合到加权全身控制 (WBC) 中,以准确计算地面反应力.
主要成果:
- 证明了对抗外部干扰的增强步行强度.
- 在没有脚部安装传感器的情况下,成功估计了外部力量.
- 通过对BRUCE机器人的模拟和实验,验证了控制器在减轻干扰效应方面的有效性.
结论:
- 拟议的计划器和控制器方案显著提高了双脚机器人对外部干扰的强度.
- 该方法提供了一种独立于传感器的方法来估计和补偿干扰.
- 实验验证证证实了框架在各种具有挑战性的场景中的有效性.
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