A review of optimal and control strategies for dynamic walking bipedal robots

被引：0
|
作者：
Tian Y.-T. [1 ,2 ]
Sun Z.-B. [1 ,2 ]
Li H.-Y. [1 ,2 ]
Wang J. [1 ,2 ]
机构：
[1] Key Laboratory of Bionic Engineering of Ministry of Education, Jilin University, Changchun
[2] College of Communication Engineering, Jilin University, Changchun
来源：
Zidonghua Xuebao/Acta Automatica Sinica | 2016年 / 42卷 / 08期
基金：
中国国家自然科学基金;
关键词：
Controllable periodic gait; Dynamic walking bipedal robot; Hybrid dynamic systems with impulse effects; Optimal control strategy; Robust stability;
D O I：
10.16383/j.aas.2016.c150821
中图分类号：
学科分类号：
摘要：
For the controllable periodic gait of dynamic walking bipedal robots, properties such as stabilities, robustness and optimal control strategies, and research status and development trend at home and abroad are explored in this paper. First of all, we introduce the dynamics mathematical model of the dynamic biped robot and present locomotion gait and control system theory for the dynamic walking bipedal robots. Secondly, we discuss the current research methods of controllable periodic gait stability for the dynamic walking bipedal robots and analyze the shortcomings of these methods; we also describe the controllable gait cycle optimization control strategy and illuminate both advantages and disadvantages of various strategies. Finally, we present challenges and future works for the dynamic biped robot research areas and give the idea of robust stability and the controllable gait cycle. Copyright © 2016 Acta Automatica Sinica. All rights reserved.
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收藏
页码：1142 / 1157
页数：15
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