基于运动发散分量动力学的双足机器人行走策略研究

In this paper, based on the linear inverted pendulum (LIP) model, the multi-walking of biped robot is analogous to the multi-swing of a three-dimensional inverted pendulum. In terms of the concept of 'divergent component of motion (DCM)', the dynamic equations expressed by using Center of Mass (COM) and DCM are studied. Two DCM closed-loop controllers are designed: one-step DCM terminal invariant disturbance rejection controller and real-time DCM trajectory tracking closed-loop controller. Both controllers can effectively suppress the disturbance, so that the DCM of the actual robot does not diverge, and which is used to plan the COM trajectory of the biped walking process. Based on the COM trajectory and biped end trajectory, the numerical method for solving inverse kinematics of biped robot is studied. The whole set of solving problems from input footprint to output joint angle in biped walking process is completed, and systematize the method of biped gait planning. Finally, combining with a ubiquitous robot model, all the algorithms in this paper are simulated via MATLAB platform. The simulation results verify the effectiveness of the method.