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动态双足机器人的控制与优化研究进展

田彦涛 孙中波 李宏扬 王静

田彦涛, 孙中波, 李宏扬, 王静. 动态双足机器人的控制与优化研究进展. 自动化学报, 2016, 42(8): 1142-1157. doi: 10.16383/j.aas.2016.c150821
引用本文: 田彦涛, 孙中波, 李宏扬, 王静. 动态双足机器人的控制与优化研究进展. 自动化学报, 2016, 42(8): 1142-1157. doi: 10.16383/j.aas.2016.c150821
TIAN Yan-Tao, SUN Zhong-Bo, LI Hong-Yang, WANG Jing. A Review of Optimal and Control Strategies for Dynamic Walking Bipedal Robots. ACTA AUTOMATICA SINICA, 2016, 42(8): 1142-1157. doi: 10.16383/j.aas.2016.c150821
Citation: TIAN Yan-Tao, SUN Zhong-Bo, LI Hong-Yang, WANG Jing. A Review of Optimal and Control Strategies for Dynamic Walking Bipedal Robots. ACTA AUTOMATICA SINICA, 2016, 42(8): 1142-1157. doi: 10.16383/j.aas.2016.c150821

动态双足机器人的控制与优化研究进展

doi: 10.16383/j.aas.2016.c150821
基金项目: 

吉林大学“985工程”工程仿生科技创新平台项目,吉林大学研究生创新项目 2015116

国家高技术研究发展计划(863计划) 2006AA04Z251

国家自然科学基金 60974067

详细信息
    作者简介:

    孙中波 吉林大学通信工程学院博士研究生. 主要研究方向为复杂系统建模, 优化与控制, 动态行走机器人, 数值最优化理论与算法. E-mail: zhongbosun2012@163.com

    李宏扬 吉林大学通信工程学院硕士研究生. 2013 年获得吉林大学学士学位. 主要研究方向为复杂系统建模, 优化与控制. E-mail: hongyangli1990@163.com

    王静 吉林大学通信工程学院博士研究生. 主要研究方向为复杂系统建模, 优化与控制. E-mail: jingw14@mails.jlu.edu.cn

    通讯作者:

    田彦涛 吉林大学教授. 1993 年于吉林工业大学获得工学博士学位. 主要研究方向为复杂系统建模, 优化与控制, 动态行走机器人, 机器视觉与模式识别. E-mail: tianyt@jlu.edu.cn

  • 中图分类号: 

A Review of Optimal and Control Strategies for Dynamic Walking Bipedal Robots

Funds: 

the Jilin University \985 Project”Engineering Bionic Science and Tech-nology Innovation Platform, and Graduate Innovation Fund of Jilin University 2015116

National High Technology Research and Devel-opment Program of China (863 Program) 2006AA04Z251

Na-tional Natural Science Foundation of China 60974067

More Information
    Author Bio:

    SUN Zhong-Bo Ph. D. candidate at the College of Communication Engi- neering, Jilin University. His research interest covers complex system modeling, optimization and control, dynamic walking robots, and numerical optimiza- tion and algorithm

    LI Hong-Yang Master student at the College of Communication Engi- neering, Jilin University. He received his bachelor degree from Jilin University in 2013. His re- search interest covers complex system modeling, optimiza- tion and control

    WANG Jing Ph. D. candidate at the College of Communication Engi- neering, Jilin University. Her research interest covers complex system model- ing, optimization and control

    Corresponding author: TIAN Yan-Tao Professor at Jilin University. He received his Ph. D. de- gree from the Jilin University of Tech- nology in 1993. His research interest covers complex sys- tem modeling, optimization and control, dynamic walking robots, machine vision, and pattern recognition. Corre- sponding author of this paper
  • 摘要: 对动态双足机器人的可控周期步态的稳定性、鲁棒性和优化控制策略的国内外研究现状与发展趋势进行了探讨.首先,介绍动态双足机器人的动力学数学模型,进一步,提出动态双足机器人运动步态和控制系统原理;其次,讨论动态双足机器人可控周期步态稳定性现有的研究方法,分析这些方法中存在的缺点与不足;再次,研究动态双足机器人的可控周期步态优化控制策略,阐明各种策略的优缺点;最后,给出动态双足机器人研究领域的难点问题和未来工作,展望动态双足机器人可控周期步态与鲁棒稳定性及其应用的研究思路.
  • 图  1  双足机器人

    Fig.  1  Block diagram of bipedal robots

    图  2  双足机器人行走步态的4个阶段

    Fig.  2  The four steps of walking gait for bipedal robots

    图  3  轨迹跟踪控制器

    Fig.  3  Block diagram of a trajectory tracking controller

    图  4  神经网络的模型预测控制框图

    Fig.  4  Block diagram of model predictive control with neural network controller

    图  5  中枢神经发生器(CPG)控制框图

    Fig.  5  Block diagram of central pattern generator (CPG)controller

    图  6  中枢神经发生器(CPG)+COG控制框图

    Fig.  6  Block diagram of central pattern generator(CPG)+COG controller

    图  7  Human-inspired控制框图

    Fig.  7  Block diagram of Human-inspired controller

    图  8  组合虚拟约束和混合零动态的控制框图

    Fig.  8  Block diagram of virtual constraint with hybrid zero dynamic controller

    图  9  DMOC 技术原理图

    Fig.  9  Block diagram of two layers optimal controller

    图  10  双层优化控制框图

    Fig.  10  Block diagram of two layers optimal controller

    图  11  常量转换图

    Fig.  11  Block diagram of transition of PDAC constants

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  • 收稿日期:  2015-12-08
  • 录用日期:  2016-04-28
  • 刊出日期:  2016-08-01

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