Adaptive feedback compensation control method for bipedal robot walking under continuous external disturbances

作     者：Zijing Li Jinlin Zhang Mengyue Lu Wanchao Chi Chong Zhang Shenghao Zhang Yuzhen Liu Chunbiao Gan 李子静;张金霖;卢梦月;迟万超;张冲;张晟浩;刘宇真;甘春标

作者机构：State Key Laboratory of Fluid Power and Mechatronic SystemsSchool of Mechanical EngineeringZhejiang UniversityHangzhou 310058China Tencent Robotics XTencent Binhai BuildingShenzhen 518054China 

出 版 物：《Acta Mechanica Sinica》 (力学学报（英文版）)

年 卷 期：2024年第40卷第12期

页      面：29-39页

核心收录：

学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 

基　　金：supported by the National Natural Science Foundation of China(Grant No.12332003) CIE-Tencent Robotics X Rhino-Bird Focused Research Program,and Zhejiang Provincial Natural Science Foundation of China(Grant No.LY23E050010) 

主　　题：Bipedal robot External disturbance Walking stability Adaptive feedback compensation Anti-disturbance control 

摘      要：In the past few decades,people have been trying to address the issue of walking instability in bipedal robots in uncertain ***,most control methods currently have still failed to achieve robust walking of bipedal robots under uncertain *** research mostly focuses on motion control methods for robots on uneven terrain and under sudden impact forces,with little consideration for the problem of continuous and intense external force disturbances in uncertain *** response to this issue,a disturbance-robust control method based on adaptive feedback compensation is ***,based on the Lagrangian method,the dynamic model of a bipedal robot under different types of external force disturbances was ***,through dynamic analysis,it was observed that classical control methods based on hybrid zero dynamics failed to consider the continuous and significant external force disturbances in uncertain ***,an adaptive feedback compensation controller was designed,and an adaptive parameter adjustment optimization algorithm was proposed based on walking constraints to achieve stable walking of bipedal robots under different external force ***,in numerical simulation experiments,comparative analysis revealed that using only a controller based on hybrid zero dynamics was insufficient to converge the motion of a planar five-link bipedal robot subjected to periodic forces or bounded noise disturbances to a stable *** contrast,in the adaptive feedback compensation control method,the use of an adaptive parameter adjustment optimization algorithm to generate time-varying control parameters successfully achieved stable walking of the robot under these *** indicates the effectiveness of the adaptive parameter adjustment algorithm and the robustness of the adaptive feedback compensation control method.