3D Stabilization Control Strategy And Coupling Kinetic Characteristic Of Underactuated Biped Robot

3D Stabilization Control Strategy and Coupling Kinetic Characteristic of Underactuated Biped RobotIn order to extend the biped robot motion space from two dimension to three dimension and make a breakthrough in the biped robot theory, coupling characteristics and global stability control algorithm of biped robot are studied in this paper, and the main contents are described below:1. In order to expand the motion space of biped walking robot from two-dimension to three-dimension, biped robots with flexible feet and curved feet are designed. By analyzing the lateral gait cycle, the lateral motion model is established. Stability of the biped robot with flexible feet is analyzed, and the ideal lateral range is found. Control algorithm based on energy is proposed, making the interfered robot return to the ideal steady state quickly.2. By studying effect on the lateral motion, brought by the change of its mass center location in the vertical motion, cause of the lateral instability for biped robot is explored. Mainly from two points of view, one is to consider the effect on the lateral gravity acceleration, and the other is to consider the effect on the lateral motion parameters. By experimental simulation, that the lateral motion cycle inconsistent with the vertical motion cycle is the main reason of the lateral instability for biped walking robots is obtained.3. A three-dimensional biped point feet robot is taken as object. By analyzing its motion state, the three-dimensional motion model of the robot is established. From the two aspects, motion equation and energy, the coupling characteristic of three-dimensional walking robot is studied, and the coupling relationship between the lateral and vertical motion is established.4. To make the robot gain stable walking gait in three-dimensional space, based on control led symmetry, the first decoupling stability control algorithm is proposed, which is used under constraints. On the basis of the first decoupling control algorithm and nonlinear zero system theory, the second decoupling stability control algorithm is put forward, eliminating the use constraints of the first one. Simulation results show both the two decoupling control algorithms can decouple the lateral and vertical motion well, and make the biped robot gain stable walking gait in three-dimensional space.In summary, for the biped robot, a series of theoretical researches are made on the following aspects, the lateral motion modeling, dynamic analysis and stability analysis, the reason of lateral instability and the three-dimensional motion modeling, coupling characteristics analysis and global stability control algorithm designing in this paper, and of course, there are still many issues that need a further research, such as two-dimensional modeling and gait analysis of the complex biped robot and three-dimensional modeling and theoretical analysis of the complex robot.