[1]王仲淳,倪世铨,黄加庆,等.二足机器人之动态平衡研究[J].智能系统学报,2009,4(05):463-470.[doi:10.3969/j.issn.1673-4785.2009.05.013]
 WANG Jong-chwen,NI Shih-chiuan,HUANG Chia-ching,et al.Dynamic balance for bipedal robots[J].CAAI Transactions on Intelligent Systems,2009,4(05):463-470.[doi:10.3969/j.issn.1673-4785.2009.05.013]
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第4卷
期数:
2009年05期
页码:
463-470
栏目:
出版日期:
2009-10-25

文章信息/Info

Title:
Dynamic balance for bipedal robots
文章编号:
1673-4785(2009)05-0463-08
作者:
王仲淳倪世铨黄加庆李明哲郑晖腾郭怡均
元智大学电机系,台湾中坜 32003
Author(s):
WANG Jong-chwen NI Shih-chiuan HUANG Chia-ching LI Ming-che CHENG Hui-teng KUO Yi-chun
Department of Electrical Engineering, Yuan Ze University, Chung-Li 32003, China
关键词:
二足机器人动态平衡控制模糊控制器
Keywords:
biped robot dynamic state control fuzzy control
分类号:
TP242
DOI:
10.3969/j.issn.1673-4785.2009.05.013
文献标志码:
A
摘要:
主要探讨二足机器人(biped robots)行走或受到外力干扰时,通过动态平衡控制使机器人行走更趋稳定,并增强站立时稳定性.二足机器人动态平衡之实现,主要是将动态平衡控制程序撰写于Nios II发展环境中,当二足机器人行走时,利用脚底压力传感器取得压力值,运算及判断二足机器人实际重心是否落在二足机器人支撑多边形范围内,并计算实际重心与期望重心之误差,以模糊控制器将二足机器人重心控制于支撑多边形范围内,使二足机器人行走时能够更加稳定,实验结果表明该方法是有效的.
Abstract:
The main purpose of this paper was to study how to enhance the dynamic balance of bipedal robots during walking or when interacting with external forces. Their stability while standing was also examined. The dynamic equilibrium of the tested biped robots resulted from built-in dynamic control programs which were written in the Nios development environment. To get pressure values from the pressure sensors of biped robots, we used control algorithms to compute the position of the actual center of gravity (CoG) and also to determine whether the CoG fell inside the polygon defining the area of balance for the robot. It was found possible to use a fuzzy controller to compensate for errors due to differences between the actual CoG and the theoretical one. The objective was to keep the CoG within the supporting polygon area. This helped the bipedal robots walk more steadily and also improved their overall stability when standing. The experimental results show that this method is effective.

参考文献/References:

[1]KUN A, MILLER W T. Adaptive dynamic balance of a biped robot using neural networks[C]//Proceedings of IEEE International Conference on Robotics and Automation. Minneapolis, USA, 1996: 240-245.
[2]VUKOBRATOVIC M, BOROVAC B. Zeromoment-point thirty five years of its Life[J]. International Journal of Humanoid Robotics, 2004, 1: 157-173.
[3]SARDAIN P, BESSONNET G. Forces acting on a biped robot. Center of pressure-zero moment point[J]. IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans, 2004, 34: 630-637.
[4]KONNO A, KATO N, SHIRATA S, et al. Development of a light-weight biped humanoid robot[C]//Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. Takamatsu, Japan, 2000, 3: 1565-1570.
 [5]涂志芳. 人型机器人分布式实时控制及步行分析[D]. 台北: 台湾科技大学, 2007.
 TU Zhifang. Humanoid robot walking distributed real-time control and analysis[D]. Taipei: Taiwan University of Science and Technology, 2007.
[6]葛新成,胡永霞.模糊控制的现状与发展概述[J].现代防御技术,2008,36(3):51-55.
GE Xincheng,HU Yongxia.Present analysis and development trends of Fuzzy control techniques[J].Modern Defence Technology, 2008, 36(3): 51-55.

备注/Memo

备注/Memo:
作者简介:
王仲淳,男,1945年生,教授.主要研究方向为国防太空电力系统、能源及发电系统与高科技产业等.发表学术论文70余篇.
倪世铨,男,1984年生,硕士研究生,主要研究方向为智能机器人. 
黄加庆,男,1982年生,硕士研究生.主要研究方向为智能机器人.
更新日期/Last Update: 2009-12-29