Deviation Correction Control of Biped Robot Walking Path Planning

2018 5th International Conference on Advanced Composite Materials and Manufacturing Engineering

Lu, Qingxiu^1 ; Zheng, Yongtao^2 ; Lu, Xinghua^1

Huali College Guangdong University of Technology, Guangdong Guangzhou, China^1

Guangzhou Huali Science and Technology Vocational College, Guangzhou, China^2

关键词: Biped robot walking;    Cycle characteristic;    Deviation corrections;    Dynamic characteristics;    Feedback controller;    Offset compensation;    Trajectory correction;    Trajectory correction systems;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/394/3/032029/pdf
DOI  :  10.1088/1757-899X/394/3/032029

来源: IOP

【 摘 要 】

The biped robot is disturbed by the bottom and the ground during walking, and the track tracking error is generated. In the path planning of the robot, it needs for deviation control, a method for controlling foot stability of biped robot is proposed based on centroid operation state compensation in this paper. The motion equation of the center of mass is constructed and the horizontal velocity of the center of mass is controlled by controlling the displacement of the center of mass in a single step period. According to the cycle characteristics of the robot walking system and the horizontal velocity of the robot centroid motion as the controlled object, the trajectory correction system model of the robot is constructed, and the position and pose of the robot end are obtained. The feedback controller is constructed to control the path offset compensation of the robot, and the biped robot path planning control is realized. The simulation results show that the trajectory correction control of biped robot with this method has strong ability of path planning and accurate track tracking, and it can accurately describe the dynamic characteristics of the robot's path. The tracking error is controlled in a lower range.