基于离散力学与非线性优化混合方法的圆规型两足机器人圆避障控制

T. Kai
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引用次数: 2

摘要

本文研究了罗经型双足机器人的避障控制问题,重点研究了圆形障碍物的避障控制问题。首先,导出了摆腿不与圆形障碍物碰撞的充分条件。在此基础上,提出了离散罗经型机器人的最优控制问题,并提出了用顺序二次规划求解该问题的方法,从而计算出离散控制输入。然后,解释了一种利用离散拉格朗日-达朗贝尔原理将离散控制输入转换为连续零阶保持器输入的变换方法。数值仿真结果表明,该方法可以实现连续罗经型机器人的避障控制。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Circular Obstacle Avoidance Control of the Compass-Type Biped Robot Based on a Blending Method of Discrete Mechanics and Nonlinear Optimization
This paper considers an obstacle avoidance control problem for the compass-type biped robot, especially circular obstacles are dealt with. First, a sufficient condition such that the swing leg does not collide the circular obstacle is derived. Next, an optimal control problem for the discrete compass-type robot is formulated and a solving method of the problem by the sequential quadratic programming is presented in order to calculate a discrete control input. Then, a transformation method that converts a discrete control input into a continuous zero-order hold input via discrete Lagrange-d’ Alembert principle is explained. From the results of numerical simulations, it turns out that obstacle avoidance control for the continuous compass-type robot can be achieved by the proposed method.
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