基于模型预测控制的双足高效行走系统
An efficient bipedal walking system based on model predictive control
严海鑫 1李国承 1上官倩芡 1安康1
作者信息
- 1. 上海师范大学信息与机电工程学院,上海 201418
- 折叠
摘要
提出基于模型预测的双足高效行走系统.首先,利用最优能效算法对双足行进中的最优步态进行分析,包括行进步长和步速,并以此生成参考轨迹;然后,通过模型预测控制的思路对机器人的最优能效步态进行跟踪控制;最后,结合机器人逆运动学构建高效稳定的双足行走系统.通过仿真实验验证了该系统可以有效跟踪、生成高效的行走步态,探寻了双足机器人动态行走的新思路.
Abstract
A model-predictive,efficient bipedal walking system was presented in this paper.Initially,optimal efficiency algorithms were employed to analyze the optimal gait of bipedal locomotion,including stride length and walking speed,on which a reference trajectory was generated.Subsequently,employing the model predictive control paradigm,the robot's optimal and efficient gait was tracked and controlled.Finally,an efficient and stable bipedal walking system was constructed by combining robot inverse kinematics.Simulation results validated that the system could effectively track the generated efficient walking gait,exploring new avenues for dynamic walking for bipedal robots.
关键词
模型预测控制/线性倒立摆/高效行走步态/零力矩点(ZMP)/支撑多边形Key words
model predictive control/linear inverted pendulum/efficient walking gait/zero moment point(ZMP)/support polygon引用本文复制引用
出版年
2024
NETL
NSTL
万方数据