有挠性驱动单元的双足机器人研制与步行实验

侯月阳, 吴伟国, 高力扬

(哈尔滨工业大学 机电工程学院, 150001 哈尔滨)



摘要:

为减缓机器人脚底冲击,设计、研制带有挠性驱动的10自由度仿人双足机器人,该机器人髋关节俯仰关节由FDU-II型挠性驱动单元驱动；搭建FDUBR-I型仿人双足机器人控制系统硬件和软件,组建上位机与两块运动控制卡的交换式以太网络用来实现上位机与运动控制卡的实时通信,该控制系统包括FDU-II型挠性驱动单元的张力反馈和关节全闭环控制子系统；进行FDUBR-I型仿人双足机器人稳定步行实验,验证FDU-II型挠性驱动单元对机器人髋关节的驱动能力以及基于黏弹性动力学模型反馈的关节全闭环和张力反馈控制器的控制效果,机器人在0.1 km/h的步速下实现双足稳定步行.

关键词:  仿人双足机器人  挠性驱动单元  张力反馈  关节全闭环  双足步行实验

DOI：10.11918/j.issn.0367-6234.2015.01.005

分类号:TP242.6

基金项目:国家高技术研究发展计划(2006AA04Z201)．



Development and walking experiments for biped robot with flexible driven units

HOU Yueyang, WU Weiguo, Gao Liyang

(School of Mechatronics Engineering, Harbin Institute of Technology, 150001 Harbin, China)

Abstract:

Compared to the rigid actuator robot, the flexible actuator robot can absorb some external shock and lead to stable biped walking. A 10 D.O.Fs(Degrees of Freedom) humanoid biped walking robot with the type of FDUBR-I is designed and developed. The flexible drive unit FDU-II drives the pitch D.O.F of the hip joint for FDUBR-I. The FDUBR-I control system including hardware and software is built, which makes the host computer on-line control the joints of FDUBR-I. The switched Ethernet including PC and two motion control cards are set up for real-time communication. The control system includes two control subsystems of tension feedback and joint closed-loop control for FDU-II. The FDUBR-I walking experiment has been finished to verify the application of the FDU-II and the effect of the viscoelasticity dynamic model feedback based joint closed-loop controller and the tension feedback controller. The robot can reach the speed of 0.1 km/h during the steady biped walking.

Key words:  humanoid biped robot  flexible drive unit  tension feedback  joint closed-loop  biped walking experiment