Study And Design Of CMGs For The Stabilization On Biped 2D Dynamic Walking

The Stabilization of Biped robot dynamic walking is one of the key basic issue in the robot research field.But the balance of bipeds in the Coronal(Frontal)plane,often neglected in simulations of 2D walking.Such actuators are commonly used for satellite attitude control,have been stabilization aids for humans.One alternative is to include dedicated inertial actuators such as reaction wheels or control moment gyroscopes(CMGs),which are free of joint limit and don't interface with task space goals.This can help in restoring postural balance and in fall mitigation.In this paper,the motion control of the control torque gyroscopes is studied by taking the underactuated biped robots as the research object,and then fully exploits the fast locomotion and dynamic stabilization capabilities of the biped robots.The main contents of this dissertation are:1.Kinematics modeling of underactuated biped robots based on impulse thrust and hip drive.Firstly,we summarize the dynamic walking step stages into the timecontinuous swinging process and the time-discrete foot collision process.By introducing hip-joint mechanical structure to solve the foot scrubbing in PDW model,then we propose the simplest walking model with retractable knee joint.Finally,we establish the Lagrange's dynamical equations and study the stabilization of underactuated biped robots.2.The control strategy of the CMGs is discussed based on the inverted pendulum model.To control the flywheel gimbals to generate stabilizing torque,three PID controllers are used to control the inverted pendulum.For the controller design and performance evaluations,a model of a gyroscopic inverted pendulum is developed.Control strategies are proposed to stabilize the Coronal plane.The results of the proposed strategies when controlling the gyroscopic inverted pendulum showed good performance even with physical limitations of the control torques.Results suggest it is possible to sustain a 100 Nm output for up to 0.25 s using a device projected to weigh less than 3kg and consume on average of power.3.We investigate the stability of a straight-knee-joint walker that is stabilized by a gyro in a 3D environment,and present also simulations.In the end of this paper,we show that the rotor enhances the stability of the walking in the simulations.Besides,the dual-flywheel CMGs' structure and control method can be widely used in the field of robot and balance applications.Finally,the main content of this dissertation is summarized and key points of future research are discussed.The structure and control method can be widely used in robot field and balance applications.