Research on one-leg flexibility control of biped robot based on sliding mode impedance

ZHOU Qinyuan; SHAO Chenyang; SHAO Nianfeng; ZHAO Yan

doi:10.13873/J.1000-9787(2021)04-0026-03

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Research on one-leg flexibility control of biped robot based on sliding mode impedance

更新时间：2025-09-11

- Research on one-leg flexibility control of biped robot based on sliding mode impedance
- Issue 4, Pages: 26-28+32(2021)
- 作者机构：
  
  中南林业科技大学机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2021)04-0026-03
  CLC： TP242
- Published：2021
- 稿件说明：
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ZHOU Qinyuan, SHAO Chenyang, SHAO Nianfeng, et al. Research on one-leg flexibility control of biped robot based on sliding mode impedance[J]. 2021, (4): 26-28+32.
DOI：

ZHOU Qinyuan, SHAO Chenyang, SHAO Nianfeng, et al. Research on one-leg flexibility control of biped robot based on sliding mode impedance[J]. 2021, (4): 26-28+32. DOI： 10.13873/J.1000-9787(2021)04-0026-03.

摘要

为了实现双足机器人在不平整地面的稳定行走

提高双足机器人的柔顺性

在阻抗模型的基础上

将滑模控制和阻抗控制相结合应用到双足机器人的控制中

建立了双足机器人系统的数学模型;基于阻抗控制模型设计滑模阻抗控制器

建立了被控对象模型、阻抗模型以及控制算法;应用SIMULINK分别对阻抗控制和滑模阻抗控制进行仿真

分析了两种控制方法的轨迹跟踪图

仿真结果表明:采用所设计的滑模阻抗控制器具有较高的跟踪精度和良好的鲁棒性。

Abstract

In order to realize stable walking bipedal robot on the uneven soil preparation

and improve the flexibility of biped robot

the mathematical model of the biped robot system is established.It is the impedance model on the basis of combining the sliding mode control and impedance control applied to the control of biped robot.Also

sliding mode impedance controller is designed based on impedance control model

established the controlled object model

the impedance model and control algorithm.Application of SIMULINK

respectively to the simulation of impedance control and sliding mode control

analyzes the two control methods of trajectory tracking.The simulation results show that using the designed sliding mode impedance controller has higher tracking precision and good robustness.

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