Adaptive feedback compensation control method for bipedal robot walking under continuous external disturbances

IF 3.8 2区 工程技术 Q1 ENGINEERING, MECHANICAL Acta Mechanica Sinica Pub Date : 2024-07-01 DOI:10.1007/s10409-024-24007-x
Zijing Li  (, ), Jinlin Zhang  (, ), Mengyue Lu  (, ), Wanchao Chi  (, ), Chong Zhang  (, ), Shenghao Zhang  (, ), Yuzhen Liu  (, ), Chunbiao Gan  (, )
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Abstract

In the past few decades, people have been trying to address the issue of walking instability in bipedal robots in uncertain environments. However, most control methods currently have still failed to achieve robust walking of bipedal robots under uncertain disturbances. Existing research mostly focuses on motion control methods for robots on uneven terrain and under sudden impact forces, with little consideration for the problem of continuous and intense external force disturbances in uncertain environments. In response to this issue, a disturbance-robust control method based on adaptive feedback compensation is proposed. First, based on the Lagrangian method, the dynamic model of a bipedal robot under different types of external force disturbances was established. Subsequently, through dynamic analysis, it was observed that classical control methods based on hybrid zero dynamics failed to consider the continuous and significant external force disturbances in uncertain environments. Therefore, an adaptive feedback compensation controller was designed, and an adaptive parameter adjustment optimization algorithm was proposed based on walking constraints to achieve stable walking of bipedal robots under different external force disturbances. Finally, in numerical simulation experiments, comparative analysis revealed that using only a controller based on hybrid zero dynamics was insufficient to converge the motion of a planar five-link bipedal robot subjected to periodic forces or bounded noise disturbances to a stable state. In contrast, in the adaptive feedback compensation control method, the use of an adaptive parameter adjustment optimization algorithm to generate time-varying control parameters successfully achieved stable walking of the robot under these disturbances. This indicates the effectiveness of the adaptive parameter adjustment algorithm and the robustness of the adaptive feedback compensation control method.

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连续外部干扰下双足机器人行走的自适应反馈补偿控制方法
过去几十年来,人们一直在努力解决双足机器人在不确定环境下行走不稳定的问题。然而,目前大多数控制方法仍无法实现双足机器人在不确定干扰下的稳健行走。现有的研究大多集中在不平整地形和突发冲击力下机器人的运动控制方法上,很少考虑不确定环境中持续、强烈的外力干扰问题。针对这一问题,本文提出了一种基于自适应反馈补偿的抗干扰控制方法。首先,基于拉格朗日方法,建立了双足机器人在不同类型外力干扰下的动态模型。随后,通过动态分析发现,基于混合零动力学的经典控制方法无法考虑不确定环境下连续而显著的外力干扰。因此,设计了一种自适应反馈补偿控制器,并提出了一种基于行走约束的自适应参数调整优化算法,以实现双足机器人在不同外力干扰下的稳定行走。最后,在数值模拟实验中,对比分析表明,仅使用基于混合零动力学的控制器不足以使受到周期性力或有界噪声干扰的平面五连杆双足机器人的运动收敛到稳定状态。相比之下,在自适应反馈补偿控制方法中,利用自适应参数调整优化算法生成时变控制参数,成功实现了机器人在这些干扰下的稳定行走。这表明了自适应参数调整算法的有效性和自适应反馈补偿控制方法的鲁棒性。
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来源期刊
Acta Mechanica Sinica
Acta Mechanica Sinica 物理-工程:机械
CiteScore
5.60
自引率
20.00%
发文量
1807
审稿时长
4 months
期刊介绍: Acta Mechanica Sinica, sponsored by the Chinese Society of Theoretical and Applied Mechanics, promotes scientific exchanges and collaboration among Chinese scientists in China and abroad. It features high quality, original papers in all aspects of mechanics and mechanical sciences. Not only does the journal explore the classical subdivisions of theoretical and applied mechanics such as solid and fluid mechanics, it also explores recently emerging areas such as biomechanics and nanomechanics. In addition, the journal investigates analytical, computational, and experimental progresses in all areas of mechanics. Lastly, it encourages research in interdisciplinary subjects, serving as a bridge between mechanics and other branches of engineering and the sciences. In addition to research papers, Acta Mechanica Sinica publishes reviews, notes, experimental techniques, scientific events, and other special topics of interest. Related subjects » Classical Continuum Physics - Computational Intelligence and Complexity - Mechanics
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