半被动双足机器人控制系统设计

Control System Design for Semi-passive Biped Robots

摘要:

由于双足机器人行走是单腿支撑和双腿支撑交替进行的过程,同时只有在与行走过程相应的控制策略不断变化时(最优控制),双足机器人才能自然稳定地行走,因此,控制起来很困难。针对现有双足机器人控制系统方面的不足,提出了一种通过舵机驱动提供冲击力矩的半被动双足机器人控制系统方案,即由一个上位机(PC机)和一个控制器构成控制系统,通过USB进行高速数据通信。上位机主要负责系统监控和协调控制；控制器采用STM32处理器,实现机器人的三个关节的数据采集、步态规划逻辑运算以及向上位机传送相应的运动状态数据。测试结果表明,当存在一些干扰时,控制系统通过传感器检测到的实时数据是准确可靠的,并且能很好地控制半被动双足机器人行走。

Abstract:

The biped robot walk is a process of alternation between single leg support and double legs support, and as long as the corresponding control strategies are always changed, namely optimum control, it can walk steadily and naturally, and hence it is quite hard to control. And then a biped robot control system is designed to improve the deficiencies of the existing control system. It consists of a PC and a MCU and communicates each other by high-speed data USB. The PC is responsible for system monitoring and coordinated control; and the MCU adopts STM32 to carry out data acquisition of three legs joint of biped robot, logical operation of gait planning and data transmission of corresponding movement state. The test shows that it is accurately that the real-time data can be derived from corresponding transducers of control system with some disturbances considered, and it can control the biped robot walk better.