受生物学启发的双足机器人仿生设计与神经控制研究

项目名称： 受生物学启发的双足机器人仿生设计与神经控制研究

项目编号： No.50805082

项目类型： 青年科学基金项目

立项/批准年度： 2009

项目学科： 生物科学

项目作者： 付成龙

作者单位： 清华大学

项目金额： 20万元

中文摘要： 本课题对双足机器人的仿生设计原理和神经控制方法进行了研究,主要成果包括：1）模仿人类骨骼-肌肉-韧带系统，基于人体下肢生物力学模型与机器人模型的映射关系，设计了基于颉抗人工肌肉的仿生双足机器人。2）根据人类行走时下肢肌肉活动的运动规律，提出了一种复合中枢模式发生器和被动行走的双足步行控制算法；3）模仿脊髓对节律运动的产生和控制原理，构建了传感反射与同步协调相结合的仿生步行网络，研究了变关节刚度的控制策略；4）模仿人类高级中枢对节律运动的调节机制，提出了一种双足步行过渡模式转换的学习方法和一种基于能量的控制参数自适应调整方法；5）建立仿生双足机器人的仿真和实验平台，进行了理论方法的实验验证，实现了机器人在非平整路面上和受外力扰动后的稳定行走。本项目从结构设计到关节驱动，再到控制机制上都模仿人类的神经-肌肉-骨骼系统，是对双足生物的全面仿生。本项目为仿生双足机器人创建了新的设计理论和技术实现方法，研究结果在仿人机器人中具有很好的应用前景。

中文关键词： 双足机器人；仿生设计；神经控制；人工肌肉；稳定行走

英文摘要： This project studies the bionic design principle and neural control method for biped robots, and the main research results include: (1) By imitating the skeleton-muscle-ligament system of human beings, a bionic biped robot with antagonistic artificial muscles is designed based on the mapping relation between the biomechanical model of human lower extremity and robot model. (2) Based on the activity rules of EMG values in human lower extremity during walking, a biped walking control algorithm by combination of rhythmic signal and passive dynamic walking is presented. (3) By imitating the adjusting mechanism of spindal system in rhythmic motion, a bionic walking control network combining sensory reflex and synchronous coordination is constructed and a control strategy of varying joint stiffness is proposed. (4) By imitating the adjusting mechanism of central nerve system in rhythmic motion, A learning method for walking patterns transition is presented, and a self-adaptive parameter adjusting method based on robot energy is proposed. (5) A simualtion platform and a bionic biped robot which is actuated by pneumatic muscles are developed. The robot can walk stably on uneven ground and can also achieve stable walking with outside disturbances. This project attempts to imitate the nerve-muscle-skeleton system of human beings from structure design, joint actuation, to control mechanism; therefore it is a coherent bionic study for biped creatures. This study presents new design theory and implement method for bionic biped robots, and the results have a good potential in the field of humanoid robots.

英文关键词： biped robot; bionic design; neural control;artificial muscle；stable walking