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仿人机器人相似性运动轨迹跟踪控制研究

DOI: 10.3724/SP.J.1004.2014.02404, PP. 2404-2413

Keywords: 仿人机器人,相似性,平衡,轨迹

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Abstract:

?提出一种基于带观测器的条件状态反馈控制的仿人机器人相似性运动轨迹跟踪控制方法.首先,分析了7连杆双足机器人动力学模型,阐述了其运动能量方程与动力学特征方程;其次,基于带观测器的状态反馈控制器原理,构建起三维倒立摆平衡控制模型;最后,由线性二次型调节器确定状态反馈增益矩阵,使机器人轨迹跟踪误差最小化,以复现出较高相似度的双足步行运动效果.实验验证了该方法的有效性.

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