计算机工程与应用
計算機工程與應用
계산궤공정여응용
COMPUTER ENGINEERING AND APPLICATIONS
2014年
5期
234-238
,共5页
双足机器人%步态控制%支持向量机(SVM)%人类控制策略
雙足機器人%步態控製%支持嚮量機(SVM)%人類控製策略
쌍족궤기인%보태공제%지지향량궤(SVM)%인류공제책략
biped robot%gait control%support vector machine%human control strategy
针对双足机器人面临的复杂环境下动态行走的适应性难题,提出了一种基于学习人类控制策略的双足机器人步态控制方法。利用三维线性倒立摆模型构造双足行走系统的状态方程,建立学习人类控制策略的参数化模型,设计了基于SVM的学习型控制器。该方法保证了躯干始终处于与地面近似垂直,增强了步态控制的鲁棒性,提高了双足机器人在复杂环境下行走的动态稳定性。实验验证了该方法的有效性。
針對雙足機器人麵臨的複雜環境下動態行走的適應性難題,提齣瞭一種基于學習人類控製策略的雙足機器人步態控製方法。利用三維線性倒立襬模型構造雙足行走繫統的狀態方程,建立學習人類控製策略的參數化模型,設計瞭基于SVM的學習型控製器。該方法保證瞭軀榦始終處于與地麵近似垂直,增彊瞭步態控製的魯棒性,提高瞭雙足機器人在複雜環境下行走的動態穩定性。實驗驗證瞭該方法的有效性。
침대쌍족궤기인면림적복잡배경하동태행주적괄응성난제,제출료일충기우학습인류공제책략적쌍족궤기인보태공제방법。이용삼유선성도립파모형구조쌍족행주계통적상태방정,건립학습인류공제책략적삼수화모형,설계료기우SVM적학습형공제기。해방법보증료구간시종처우여지면근사수직,증강료보태공제적로봉성,제고료쌍족궤기인재복잡배경하행주적동태은정성。실험험증료해방법적유효성。
To deal with the dynamically walking control problem in the complex environments for biped robot, a method of gait control based on learning human control strategy is put forward. State equation of biped walking system based on 3D linear inverted pendulum is constructed. The parametric model of learning HCS is built. A learning controller based on SVM is designed. The proposed method guarantees that torso is always perpendicular to the ground. Robustness of the gait control is enhanced. The dynamically stability of biped walking is improved in complex environments. Experimental results demonstrate the effectiveness of the proposed methods.