Dynamic attitude stability control method for biped walking robot based on differential equations of motion

被引：0
|
作者：
Zhao, Chun-Yan [1 ]
Peng, Jing-Chun [1 ]
机构：
[1] College of Science, Heilongjiang University of Science and Technology, Harbin,150022, China
来源：
Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2024年 / 54卷 / 12期
关键词：
Attitude stability - Biped walking robots - Co-ordinate system - Constrain surface - Differential equations of motion - Dynamic attitude stability control - Rigid body - Rigid body coordinate system - Stability control - World coordinate systems;
D O I：
10.13229/j.cnki.jdxbgxb.20231307
中图分类号：
学科分类号：
摘要：
In order to maintain a stable dynamic posture during the operation of biped walking robots and complete work tasks with high efficiency，a motion differential equation based dynamic posture stabilization control method for biped walking robots was proposed. Firstly，establish a biped walking robot model，determine its coordinates in the world coordinate system and rigid coordinate system，and express them in the form of homogeneous coordinates；Secondly，the dynamic attitude stability controller of biped walking robot is constructed，and the differential equation of motion is introduced to constrain the dynamic attitude of the robot，so that it can remain stable in any constrained surface；Finally，compared with the other two algorithms，the experimental results show that the proposed method is highly feasible and reasonable. Compared with other algorithms，the proposed method has better self-balancing ability，anti-interference ability and dynamic attitude stability control ability. © 2024 Editorial Board of Jilin University. All rights reserved.
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页码：3711 / 3716
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