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摘要: 对动态双足机器人的可控周期步态的稳定性、鲁棒性和优化控制策略的国内外研究现状与发展趋势进行了探讨.首先，介绍动态双足机器人的动力学数学模型，进一步，提出动态双足机器人运动步态和控制系统原理；其次，讨论动态双足机器人可控周期步态稳定性现有的研究方法，分析这些方法中存在的缺点与不足；再次，研究动态双足机器人的可控周期步态优化控制策略，阐明各种策略的优缺点；最后，给出动态双足机器人研究领域的难点问题和未来工作，展望动态双足机器人可控周期步态与鲁棒稳定性及其应用的研究思路.Abstract: For the controllable periodic gait of dynamic walking bipedal robots, properties such as stabilities, robustness and optimal control strategies, and research status and development trend at home and abroad are explored in this paper. First of all, we introduce the dynamics mathematical model of the dynamic biped robot and present locomotion gait and control system theory for the dynamic walking bipedal robots. Secondly, we discuss the current research methods of controllable periodic gait stability for the dynamic walking bipedal robots and analyze the shortcomings of these methods; we also describe the controllable gait cycle optimization control strategy and illuminate both advantages and disadvantages of various strategies. Finally, we present challenges and future works for the dynamic biped robot research areas and give the idea of robust stability and the controllable gait cycle.
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图 4 神经网络的模型预测控制框图
Fig. 4 Block diagram of model predictive control with neural network controller
图 5 中枢神经发生器(CPG)控制框图
Fig. 5 Block diagram of central pattern generator (CPG)controller
图 6 中枢神经发生器(CPG)+COG控制框图
Fig. 6 Block diagram of central pattern generator(CPG)+COG controller
图 8 组合虚拟约束和混合零动态的控制框图
Fig. 8 Block diagram of virtual constraint with hybrid zero dynamic controller
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