基于角动量的双足机器人稳定行走规划

doi:10.16180/j.cnki.issn1007-7820.2025.08.012

电子科技 ›› 2025, Vol. 38 ›› Issue (8): 87-93.doi: 10.16180/j.cnki.issn1007-7820.2025.08.012

基于角动量的双足机器人稳定行走规划

许文琼¹, 杨芳艳¹(), 李清都²

1.上海理工大学机械工程学院,上海 200093
2.上海理工大学机器智能研究院,上海 200093

收稿日期:2024-01-28 修回日期:2024-03-12 出版日期:2025-08-15 发布日期:2025-07-10
通讯作者: 杨芳艳(1979-),女,E-mail:yangfy@usst.edu.cn,副教授。研究方向:机器人、人工智能、电路与系统。
作者简介:许文琼(2000-),女,硕士研究生。研究方向:机器人步态算法、动力学模型等。
李清都(1980-),男,博士,教授。研究方向:仿生机器人理论与技术、复杂系统的动力学与控制。
基金资助:
国家自然科学基金(92048205);东方学者计划(TP2019064)

Research on Stable Walking Planning of Biped Robot Based on Angular Momentum

XU Wenqiong¹, YANG Fangyan¹(), LI Qingdu²

1. School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China
2. Institute of Machine Intelligence,University of Shanghai for Science and Technology,Shanghai 200093,China

Received:2024-01-28 Revised:2024-03-12 Online:2025-08-15 Published:2025-07-10
Supported by:
National Natural Science Foundation of China(92048205);Oriental Scholars Program(TP2019064)

摘要/Abstract

摘要：

针对双足机器人的稳定行走问题,文中采用伸缩腿侧向对分式结构设计来减少电机数量和本体质量。引入基于角动量预测落脚点的LIP(Linear Inverted Pendulum)控制模型来提高机器人稳定性和动态响应能力,并通过考虑质心转动惯量来提高建模准确性。与传统质心线速度控制模型相比,所提模型在稳定性和动态响应能力上表现更好。仿真结果表明,考虑转动惯量的角动量预测落脚点模型使机器人能够稳定应对触地扰动。不仅提升了双足机器人的稳定性和动态响应能力,而且无需增加电机数量和本体质量。所提模型不仅为双足机器人步态优化提供了新思路,也为伸缩腿双足机器人的步态控制提供了新途径。

关键词: 双足机器人, 伸缩腿, 角动量, 落脚点, 转动惯量, 行走控制, 步态控制, 线性倒立摆

Abstract:

In view of the problem of stable walking of biped robot, the telescopic leg lateral split structure is designed to reduce the number of motors and the mass of the body. The LIP(Linear Inverted Pendulum) control model based on angular momentum prediction is introduced to improve the robot stability and dynamic response ability, and the modeling accuracy is improved by considering the moment of inertia of the center of mass. Compared with the traditional centroid linear velocity control model, the proposed model performs better in stability and dynamic response ability. The simulation results show that the angular momentum prediction model considering the moment of inertia can make the robot cope with the ground disturbance stably. It not only significantly improves the stability and dynamic response ability of the biped robot, but also does not need to increase the number of motors and body quality. The proposed model not only provides a new idea for gait optimization of biped robots, but also provides a new way for gait control of biped robots with telescopic legs.

Key words: bipedal robot, telescopic legs, angular momentum, foot landing point, rotational inertia, walking control, gait control, linear inverted pendulum

中图分类号:

TP242

许文琼, 杨芳艳, 李清都. 基于角动量的双足机器人稳定行走规划[J]. 电子科技, 2025, 38(8): 87-93.

XU Wenqiong, YANG Fangyan, LI Qingdu. Research on Stable Walking Planning of Biped Robot Based on Angular Momentum[J]. Electronic Science and Technology, 2025, 38(8): 87-93.

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基于角动量的双足机器人稳定行走规划

Research on Stable Walking Planning of Biped Robot Based on Angular Momentum

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