Gait Stabilization Control Method of Machine Leg Based on Multi Sensor Tracking Fusion

2018 International Conference on Advanced Materials, Intelligent Manufacturing and Automation

材料科学;机械制造;运输工程

Lu, Xing-Hua^1 ; Huang, Peng-Fen^1 ; Huang, Hao-Hong^1 ; Lin, Jia-Cong^1

Huali College Guangdong University of Technology, Guangdong Guangzhou

511325, China^1

关键词: Adaptive control methods;    Attitude parameter;    Damping controllers;    Kalman filtering algorithms;    Multi-sensor data;    Multi-sensor tracking;    Stability and robustness;    Stabilization control;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/382/4/042046/pdf
DOI  :  10.1088/1757-899X/382/4/042046

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

In the course of walking, the machine leg is disturbed by the parameters and the influence of the mechanical parts, which leads to the poor stability of the walking. In order to improve the gait stability of the robot leg, a gait stability control method based on multi-sensor tracking fusion is proposed. Multi-sensor data acquisition method is used to collect the attitude information of the machine leg, fusion of attitude parameters is taken based on Kalman filtering algorithm, the fusing attitude information of the robot leg is input into the time-delay damping controller to compensate the error of the attitude parameter in the motion of the robot leg. The feedback control of the walking gait of the machine leg is realized and the adaptive control method is used to improve the stability control performance of the gait of the machine leg. The simulation results show that this method is effective for the gait stability control of machine legs, and the output of machine legs is stable and accurate, which improves the stability and robustness of machine legs.