CAJ | 학술논문

研究了仿人机器人在不平整地面上的落脚控制方法.首先,给出落脚控制问题的详细描述,对落脚过程进行分析,将几种典型的足一地接触模式转化成统一的等效单点接触模式.然后,引入人类落脚控制经验,设计基于主动柔顺控制原理的模糊控制器,实现基于等效单点的接触控制,并结合在线运动规划进行了落脚控制的应用方法研究.最后,通过"Virtual Blackmann"小平整地面行走仿真实验,验证了所提方法的有效性.
연구료방인궤기인재불평정지면상적락각공제방법.수선,급출락각공제문제적상세묘술,대락각과정진행분석,장궤충전형적족일지접촉모식전화성통일적등효단점접촉모식.연후,인입인류락각공제경험,설계기우주동유순공제원리적모호공제기,실현기우등효단점적접촉공제,병결합재선운동규화진행료락각공제적응용방법연구.최후,통과"Virtual Blackmann"소평정지면행주방진실험,험증료소제방법적유효성.
This paper presents a control method for humanoid biped landing on uneven terrain.Based on description of landing control problem, the landing course is analyzed.Then several representative foot-ground contact modes are transformed into an equivalent single point contact mode, an active compliant theorem based fuzzy controller is designed by incorporating human landing experience, and an equivalent single point based contact control is implemented.Combined with online motion planning, application of the proposed landing control method is addressed.Finally, simulation results of "Virtual Biackmann" walking on uneven terrain are shown to validate the effectiveness of the proposed method.