一种具有柔性的机器双足传感与控制方法研究

项目名称： 一种具有柔性的机器双足传感与控制方法研究

项目编号： No.60874097

项目类型： 面上项目

立项/批准年度： 2009

项目学科： 金属学与金属工艺

项目作者： 宋全军

作者单位： 中国科学院合肥物质科学研究院

项目金额： 30万元

中文摘要： 本课题的预期目标是研究建立仿人机器人足部机构的设计理论与运动能力评估方法，提出利用算法补偿的机械结构模拟双足行走和安全控制策略，为仿人机器人足部设计奠定理论基础。课题组已经按计划开展了研究工作，分别对仿人机器人足部机构的设计、多传感器配置的设计和优化、柔性双足的动力学控制方法等理论与实验的关键问题进行了深入研究，构建了柔性双足力学行为测试分析的信息获取平台，建立了一种仿人机器人足部机构的设计方法，提出并验证了一种有效的双足动力学控制算法。 本研究特色在于利用算法补偿的机械结构模拟人体足部自然行走，使机器双足体现出人体双足在自然行走中的柔顺。研究结果将有效提升可穿戴机器人双足控制的稳定性、安全性和舒适性问题，为仿人机器人、可穿戴机器人足部机构设计提供理论依据。 课题组共计发表标注资助论文9篇，其他论文6篇，全部为EI收录；申请发明专利5项，其中3项被授权，培养了一批从事机器人机构研制与控制领域研究的青年科技骨干和博士/硕士研究生。

中文关键词： 足部机构；多传感器；柔顺运动控制

英文摘要： The goal of this project is to study the design of a humanoid robot foot mechanism and establish the assessment methods for athletic ability. Methods of bipedal walking simulation, based on mechanical structure of algorithm compensation, and safety control strategies were proposed to found the theoretical foundation of humanoid robot foot design. According to the research plan, we have studied design of humanoid robot foot mechanism, optimization of multi-sensor configurations, theory of dynamic control for flexible feet and some key issues in experiments deeply. At the same time, information acquisition platform for test and analysis of the flexible bipedal feet-mechanical behavior with the methods for humanoid robot foot mechanism design and effective control algorithm for biped dynamics were proposed. The feature of the study is using the mechanical structure of compensation algorithm to simulate normal human walking profile, making the feet of machine reflect flexibility of human feet in the normal walking. The results can improve the control stability, safety and comfortableness of the wearable robot. Meanwhile, it provides theory basis for feet mechanism design of humanoid robot and wearable robot. Research group have published 15 articles which were indexed by EI and submitted five invention patents in which three patents have been granted. We have cultivated a group of youth backbone of both scientific and technological, master degree and doctor degree students who are engaged in the field of human-machine field.

英文关键词： Foot mechanism; multi-sensor; flexible motion control