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针对机器人步行过程中产生的偏摆力矩影响步行稳定性的问题,提出一种全新的基于腿部关节控制的偏摆力矩控制方法.分析了偏摆力矩产生的原因及步行过程中垂直方向上的力矩平衡条件;根据仿人机器人连杆模型和力矩平衡条件,将偏摆力矩控制问题转化为带约束条件的二次规划问题,推导出支撑腿腿部关节角度控制的表达式,设计了腿部关节自适应控制器以提高轨迹跟踪性能,并给出了稳定性证明.仿真结果表明,该方法能较好地克服偏摆力矩的影响,使机器人实现稳定的步行.
Aiming at the problem that the yaw moment generated during the walking process affects the walking stability, a new method of yaw moment control based on the joint control of the legs is proposed. The reasons of the yaw moment and the vertical direction of the yaw moment Torque balance condition; According to the humanoid robot connecting rod model and torque balance condition, the yaw moment control problem is transformed into the quadratic programming problem with constraints, the expression of the joint angle control of the leg is deduced, and the leg Joint adaptive controller to improve the trajectory tracking performance and to prove the stability.The simulation results show that this method can better overcome the influence of yaw moment and make the robot achieve stable walking.