CAJ | 학술논문

减振抗冲是足式机器人控制研究的重要难题，使用主被动联合减振抗冲的方法可以对足式机器人的振动冲击进行很好的抑制。文章首次将主被动联合抗冲减振控制方法应用到足式机器人的减振控制中，通过建模分析，设计了被动减振单元的刚度和阻尼比，实现了对冲击振动中的高频信号的衰减，然后根据被动减振结果设计合理的主动控制方案，进一步减小了冲击振动中的低频振动。最后使用SimMechanics建模分析，验证主被动减振参数设置的有效性。
감진항충시족식궤기인공제연구적중요난제，사용주피동연합감진항충적방법가이대족식궤기인적진동충격진행흔호적억제。문장수차장주피동연합항충감진공제방법응용도족식궤기인적감진공제중，통과건모분석，설계료피동감진단원적강도화조니비，실현료대충격진동중적고빈신호적쇠감，연후근거피동감진결과설계합리적주동공제방안，진일보감소료충격진동중적저빈진동。최후사용SimMechanics건모분석，험증주피동감진삼수설치적유효성。
Vibration reduction and impact resistance has been a significant research topic in biped robots control, and the active and passive composite vibration reduction and impact resistance method can generate an effective suppression upon the vibration and impact in biped robots. This article employs the composite control method in the vibration reduction control for biped robots for the first time. At first, through modeling and analyzing, the stiffness and damping ratio of the passive vibration reduction unit is designed, for the attenuation of the high frequency signal in vibration. Then, in accordance with the passive method, this article designs a proper active control method, to eliminate the low frequency signal furtherly. Finally, the effectiveness of the proposed method is illustrated in simulation analysis in SimMechanics.