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使用线性倒立摆模型和线性摆模型的双足机器人柔性行走轨迹规划。

Trajectory Planning of Flexible Walking for Biped Robots Using Linear Inverted Pendulum Model and Linear Pendulum Model.

机构信息

School of Mechanical Engineering, Southeast University, Nanjing 211189, China.

School of Mechanical-Electrical Engineering, North China Institute of Science and Technology, Beijing 065201, China.

出版信息

Sensors (Basel). 2021 Feb 4;21(4):1082. doi: 10.3390/s21041082.

DOI:10.3390/s21041082
PMID:33557376
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7916107/
Abstract

Linear inverted pendulum model (LIPM) is an effective and widely used simplified model for biped robots. However, LIPM includes only the single support phase (SSP) and ignores the double support phase (DSP). In this situation, the acceleration of the center of mass (CoM) is discontinuous at the moment of leg exchange, leading to a negative impact on walking stability. If the DSP is added to the walking cycle, the acceleration of the CoM will be smoother and the walking stability of the biped will be improved. In this paper, a linear pendulum model (LPM) for the DSP is proposed, which is similar to LIPM for the SSP. LPM has similar characteristics to LIPM. The dynamic equation of LPM is also linear, and its analytical solution can be obtained. This study also proposes different trajectory-planning methods for different situations, such as periodic walking, adjusting walking speed, disturbed state recovery, and walking terrain-blind. These methods have less computation and can plan trajectory in real time. Simulation results verify the effectiveness of proposed methods and that the biped robot can walk stably and flexibly when combining LIPM and LPM.

摘要

线性倒立摆模型（LIPM）是双足机器人的一种有效且广泛使用的简化模型。然而，LIPM 仅包含单支撑阶段（SSP），忽略了双支撑阶段（DSP）。在这种情况下，质心（CoM）的加速度在腿交换时会不连续，这对行走稳定性会产生负面影响。如果在行走周期中添加 DSP，则 CoM 的加速度会更加平滑，双足的行走稳定性也会得到提高。本文提出了一种用于 DSP 的线性摆模型（LPM），它类似于用于 SSP 的 LIPM。LPM 具有与 LIPM 相似的特性。LPM 的动力学方程也是线性的，可以得到其解析解。本研究还针对不同情况提出了不同的轨迹规划方法，例如周期性行走、调整行走速度、受扰状态恢复和行走地形盲。这些方法计算量较少，可以实时规划轨迹。仿真结果验证了所提出方法的有效性，并且当将 LIPM 和 LPM 结合使用时，双足机器人可以稳定灵活地行走。

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