%0 Journal Article
%T 基于分数阶的电动轮足式机器人腿部阻抗控制研究<br>Research on Leg Impedance Control for Electronic Wheel-Legged Robot Based on Fractional Order
%A 赵江波
%A 陈颖慧
%A 王军政
%J 《北京理工大学学报》（自然科学中文版）
%D 2019
%R 10.15918/j.tbit1001-0645.2019.02.013
%X 为了减少机器人足端落地冲击力，提高机器人对复杂地形的适应能力，将基于位置的阻抗控制应用于电动轮足式机器人足式运动过程的柔顺性控制，提出具有分数阶结构形式的阻抗控制器以改善系统的接触性能.由于位置闭环的带宽会影响目标阻抗的实现，引入逆位置环补偿环节以提高系统的阻抗跟踪性能.仿真与实验结果表明，分数阶阻抗控制不仅能够实现足端与地面的稳定接触，而且相比于常规的二阶质量-阻尼-弹簧阻抗控制，能实现更好的接触过渡性能.<br>In order to reduce the impacts and improve robot's adaptability to complex terrain, position-based impedance control was applied to the compliance control for legged locomotion of the electronic wheel-legged robot and a new impedance controller with fractional order was proposed to improve the contact performance. As the bandwidth of the position closed-loop could affect the realization of the target impedance, an inverse position-loop compensator was introduced to improve the system impedance tracking performance. Simulation and experiment results show that the fractional-order impedance control can not only realize stable contact between the foot and the ground, but also achieve superior contact transition performance in comparison to the conventional second-order mass-damping-spring impedance controller
%K 轮足式机器人 阻抗控制 分数阶 柔顺性控制<br>wheel-legged robot impedance control fractional order compliance control
%U http://journal.bit.edu.cn/zr/ch/reader/view_abstract.aspx?file_no=20190213&flag=1