挠性驱动单元及其在仿人双足步行机器人应用研究
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摘要
双足步行机器人的研究开始于上世纪60年代，经过50多年的发展已成为机器人技术领域的一个主要研究方向。人类常速步行着地冲击力为体重的3.5倍，跑步着地冲击为5倍，最大为7倍，人类肌肉具有缓冲减振作用，可在具有外界冲击时有效保护人体关节，而仿人机器人大多采用减速器等传动装置驱动，缺乏人类肌腱挠性，无法承受如此大冲击载荷；此外，人们对双足机器人的要求已不是实现步行运动这个单一指标，还希望让机器人从生物学角度更加与人相似，并且最大程度上节省能耗，因此需要一种轻型小巧、安装方便、挠性输出的驱动单元用于机器人步行研究。尽管挠性驱动可以缓冲减振，然而由于钢丝绳的粘弹性，驱动单元存在回差和滞后，难以实现机器人步行，研究基于挠性驱动单元的仿人双足步行机器人具有重要现实意义。
本文对绳驱动挠性驱动单元及其在双足机器人上的应用进行了深入、系统的研究。主要研究了以下几方面内容：
基于粘弹性动力学建立挠性驱动单元动力学模型，对钢丝绳连续介质进行离散化，将其模拟成微观下由多个弹簧和阻尼构成的粘弹性体，推导挠性驱动单元输出角度与输入角度以及关节两侧张力的关系，方便进行单元的力控制，算例验证该模型理论正确性；基于三维可变多义线用宏命令建立“钢丝绳-动滑轮”仿真模型，挠性驱动单元动力学仿真验证该方法有效性。
为解决挠性驱动单元存在回差和滞后从而难以控制的问题，提出基于张力反馈和关节全闭环的控制方法。关节位置误差与速度误差反馈是在电机内部位置环与速度环的基础上引入关节的位置环与速度环，而对弹性变形的速度与加速度前馈，则是通过弹性变形公式求得钢丝绳伸长量，再根据伸长量求得需要前馈的速度与加速度，通过实时修改速度前馈系数与加速度前馈系数来达到补偿钢丝绳伸长量的目的，根据该控制策略设计挠性驱动单元控制器，该控制器实现对挠性驱动单元的误差补偿。研制挠性驱动单元样机，搭建驱动单元控制系统，通过性能测试实验验证该单元的驱动能力及控制器有效性。
进行步行样本生成的研究。针对现有机器人步行稳定性判据的约束条件过于严格的问题，补充滑动及转动约束，并分析滑动及转动对机器人步行稳定判据的影响；由于钢丝绳的粘弹性特性，导致挠性驱动关节存在回差和滞后，因此对双足机器人步态产生一定影响，讨论挠性驱动的回差和滞后可能形成的机器人步行位相及游脚落地状态，带有挠性驱动单元的双足机器人仿真能够验证稳定性方面的理论。研究步行样本生成方法，提出一种用于机器人动力学分析的参数化曲面车桌模型及使用该模型生成双足机器人步行样本的方法，该方法采用B样条曲面作为双足机器人质心运动曲面，利用牛顿迭代法求解机器人质心运动从而生成步行样本，机器人质心按照步行周期做有规律的三维运动从而有效增大机器人步长，减小着地冲击，通过仿真验证理论正确性；
研制带有挠性驱动单元的仿人双足机器人，搭建双足机器人控制系统，进行双足机器人步行实验；并进行对比步行实验，在挠性驱动单元分别采用张力反馈及关节全闭环控制器和PID轨迹跟踪控制器的情况下进行机器人步行实验，该实验验证挠性驱动控制器的有效性。
通过对挠性驱动单元与其在双足机器人上的应用以及相关步行理论进行研究，双足步行机器人的部分关节实现挠性驱动，验证了挠性驱动对双足机器人的驱动能力以及挠性驱动控制器的有效性，为仿人双足步行机器人实现全部挠性驱动打下理论与实验基础。
Research of biped robot started in the1960s, which has become a major field ofrobotics research after more than50years of development. Impact force of humanwalking at a normal speed is3.5times of body weight, which is5times when running,even7times. Human muscle can buffer shock to protect the joints, while humanoidrobot mostly uses reducer drive which lacks for flexibility of human tendon. Humanoidrobot cannot afford such a large impact load, thus the robot walk speed is limited. Inaddition, humanoid robot need to be more similar to people from a biologicalperspective, a light small, easy installation, flexible output’s drive unit is needed forwalk robot research. A humanoid biped walk robot with two flexible drive units makesthe biped walk similar to people. Although flexible drive unit can buffer shock, steelrope’s viscoelastic will make the joint of the drive unit occor backlash and hysteresis,which is difficult to achieve robot walk. Research based on flexible drive unit ofhumanoid biped walk has important practical significance.
In this paper, flexible drive unit and its application on the biped robot will bestudied in depth and systematic. The main study are following:
A dynamic model of flexible drive unit is established based on viscoelasticdynamics. Steel rope of flexible drive unit is modeled as a viscoelastic by a number ofsprings and damper under the microscopic view. The relationship between the outputand input angle of flexible drive unit and tension on both sides of the joint is derived,which is used for tension control and the example shows the accuracy of dynamicmodel. The simulation model about steel rope and movable pulley is set up based on3Dvariable polylines. It’s easy and convenient using macro command to establish thesimulation system. This method solves a problem that it’s difficult to use discretemethod to establish steel rope and movable pulley model under the following dynamicssoftware, While contact between steel rope and object is omitted.
It’s difficult to control for flexible drive unit due to the presence of backlash andhysteresis, and control research will be finished based on viscoelastic dynamic model.Joint position and joint velocity feedback is through the viscoelastic dynamic model,and joint velocity and acceleration feedforward is through the elastic deformation ofsteel rope. Joint position error and velocity error feedback is that joint position loop andspeed loop is based on the motor position loop and speed loop. Steel rope elongationcan be obtained by elastic deformation formula, and speed and acceleration feedforwardwill be obtained by the elongation. Real time modification of velocity feedforward andacceleration feedforward coefficient can achieve the purpose of compensating steel ropeelongation. Flexible drive unit controller is designed according to the above control strategy, which error compensation is achieved for flexible drive unit. Developprototype of flexible drive unit and set up its control system. The performance testprove the effectiveness of the proposed control strategy and its drive ability.
The flexibility of steel rope have effects on gait stabilityfor robot, so it is necessaryto research on the stability of the robot. For the problem that constraints of existingrobot walking stability criterion are too strict, supplement sliding and rotationalconstraints are finished, and the effect of robot’s sliding and rotation on walkingstability criterion is analyzed. The backlash and hysteresis of flexible drive joints arecaused by the viscoelastic properties of steel rope, which have certain influence tobipedal robot gait. Hysteresis and walking foot landing phase of biped robot withflexible drive unit is discussed. The biped robot with flexible drive unit simulation canverify the stability theory. Walk sample generation method is researched, and aparametric surface vehicle table model used for robot dynamics analysis is proposed.walking sample generating method of biped robot by the vehicle table model isproposed too. B-spline surfaces is seen as bipedal robot centroid motion surface, andNewton iteration method is used to solve the robot COG motion to get walking samples.Robot COG motion is a regular3D robot in accordance with the walk cycle, whicheffectively increases the walk step and reduce the landing impact. A3D robot trajectorycan be planned without changing the model coordinate system, and the simulationresults show the correctness of the theory.
A humanoid biped robot with flexible drive unit is developed, and the biped robotsystem is built. Biped robot walk experiments will be finished, and the robot can reach aspeed of0.1km/h. The robot can be buffered and damped due to the flexible drive unit.
Based on the flexible drive unit and its applications and related theory on bipedrobot research, part joints of biped robot have achieved flexible driving, which verifiesthat the flexible drive unit has drive capability and buffer effort for biped robot. Thisresearch is a theoretical and experimental basis for full flexible drive unit of the bipedrobot.
本文对绳驱动挠性驱动单元及其在双足机器人上的应用进行了深入、系统的研究。主要研究了以下几方面内容：
基于粘弹性动力学建立挠性驱动单元动力学模型，对钢丝绳连续介质进行离散化，将其模拟成微观下由多个弹簧和阻尼构成的粘弹性体，推导挠性驱动单元输出角度与输入角度以及关节两侧张力的关系，方便进行单元的力控制，算例验证该模型理论正确性；基于三维可变多义线用宏命令建立“钢丝绳-动滑轮”仿真模型，挠性驱动单元动力学仿真验证该方法有效性。
为解决挠性驱动单元存在回差和滞后从而难以控制的问题，提出基于张力反馈和关节全闭环的控制方法。关节位置误差与速度误差反馈是在电机内部位置环与速度环的基础上引入关节的位置环与速度环，而对弹性变形的速度与加速度前馈，则是通过弹性变形公式求得钢丝绳伸长量，再根据伸长量求得需要前馈的速度与加速度，通过实时修改速度前馈系数与加速度前馈系数来达到补偿钢丝绳伸长量的目的，根据该控制策略设计挠性驱动单元控制器，该控制器实现对挠性驱动单元的误差补偿。研制挠性驱动单元样机，搭建驱动单元控制系统，通过性能测试实验验证该单元的驱动能力及控制器有效性。
进行步行样本生成的研究。针对现有机器人步行稳定性判据的约束条件过于严格的问题，补充滑动及转动约束，并分析滑动及转动对机器人步行稳定判据的影响；由于钢丝绳的粘弹性特性，导致挠性驱动关节存在回差和滞后，因此对双足机器人步态产生一定影响，讨论挠性驱动的回差和滞后可能形成的机器人步行位相及游脚落地状态，带有挠性驱动单元的双足机器人仿真能够验证稳定性方面的理论。研究步行样本生成方法，提出一种用于机器人动力学分析的参数化曲面车桌模型及使用该模型生成双足机器人步行样本的方法，该方法采用B样条曲面作为双足机器人质心运动曲面，利用牛顿迭代法求解机器人质心运动从而生成步行样本，机器人质心按照步行周期做有规律的三维运动从而有效增大机器人步长，减小着地冲击，通过仿真验证理论正确性；
研制带有挠性驱动单元的仿人双足机器人，搭建双足机器人控制系统，进行双足机器人步行实验；并进行对比步行实验，在挠性驱动单元分别采用张力反馈及关节全闭环控制器和PID轨迹跟踪控制器的情况下进行机器人步行实验，该实验验证挠性驱动控制器的有效性。
通过对挠性驱动单元与其在双足机器人上的应用以及相关步行理论进行研究，双足步行机器人的部分关节实现挠性驱动，验证了挠性驱动对双足机器人的驱动能力以及挠性驱动控制器的有效性，为仿人双足步行机器人实现全部挠性驱动打下理论与实验基础。
Research of biped robot started in the1960s, which has become a major field ofrobotics research after more than50years of development. Impact force of humanwalking at a normal speed is3.5times of body weight, which is5times when running,even7times. Human muscle can buffer shock to protect the joints, while humanoidrobot mostly uses reducer drive which lacks for flexibility of human tendon. Humanoidrobot cannot afford such a large impact load, thus the robot walk speed is limited. Inaddition, humanoid robot need to be more similar to people from a biologicalperspective, a light small, easy installation, flexible output’s drive unit is needed forwalk robot research. A humanoid biped walk robot with two flexible drive units makesthe biped walk similar to people. Although flexible drive unit can buffer shock, steelrope’s viscoelastic will make the joint of the drive unit occor backlash and hysteresis,which is difficult to achieve robot walk. Research based on flexible drive unit ofhumanoid biped walk has important practical significance.
In this paper, flexible drive unit and its application on the biped robot will bestudied in depth and systematic. The main study are following:
A dynamic model of flexible drive unit is established based on viscoelasticdynamics. Steel rope of flexible drive unit is modeled as a viscoelastic by a number ofsprings and damper under the microscopic view. The relationship between the outputand input angle of flexible drive unit and tension on both sides of the joint is derived,which is used for tension control and the example shows the accuracy of dynamicmodel. The simulation model about steel rope and movable pulley is set up based on3Dvariable polylines. It’s easy and convenient using macro command to establish thesimulation system. This method solves a problem that it’s difficult to use discretemethod to establish steel rope and movable pulley model under the following dynamicssoftware, While contact between steel rope and object is omitted.
It’s difficult to control for flexible drive unit due to the presence of backlash andhysteresis, and control research will be finished based on viscoelastic dynamic model.Joint position and joint velocity feedback is through the viscoelastic dynamic model,and joint velocity and acceleration feedforward is through the elastic deformation ofsteel rope. Joint position error and velocity error feedback is that joint position loop andspeed loop is based on the motor position loop and speed loop. Steel rope elongationcan be obtained by elastic deformation formula, and speed and acceleration feedforwardwill be obtained by the elongation. Real time modification of velocity feedforward andacceleration feedforward coefficient can achieve the purpose of compensating steel ropeelongation. Flexible drive unit controller is designed according to the above control strategy, which error compensation is achieved for flexible drive unit. Developprototype of flexible drive unit and set up its control system. The performance testprove the effectiveness of the proposed control strategy and its drive ability.
The flexibility of steel rope have effects on gait stabilityfor robot, so it is necessaryto research on the stability of the robot. For the problem that constraints of existingrobot walking stability criterion are too strict, supplement sliding and rotationalconstraints are finished, and the effect of robot’s sliding and rotation on walkingstability criterion is analyzed. The backlash and hysteresis of flexible drive joints arecaused by the viscoelastic properties of steel rope, which have certain influence tobipedal robot gait. Hysteresis and walking foot landing phase of biped robot withflexible drive unit is discussed. The biped robot with flexible drive unit simulation canverify the stability theory. Walk sample generation method is researched, and aparametric surface vehicle table model used for robot dynamics analysis is proposed.walking sample generating method of biped robot by the vehicle table model isproposed too. B-spline surfaces is seen as bipedal robot centroid motion surface, andNewton iteration method is used to solve the robot COG motion to get walking samples.Robot COG motion is a regular3D robot in accordance with the walk cycle, whicheffectively increases the walk step and reduce the landing impact. A3D robot trajectorycan be planned without changing the model coordinate system, and the simulationresults show the correctness of the theory.
A humanoid biped robot with flexible drive unit is developed, and the biped robotsystem is built. Biped robot walk experiments will be finished, and the robot can reach aspeed of0.1km/h. The robot can be buffered and damped due to the flexible drive unit.
Based on the flexible drive unit and its applications and related theory on bipedrobot research, part joints of biped robot have achieved flexible driving, which verifiesthat the flexible drive unit has drive capability and buffer effort for biped robot. Thisresearch is a theoretical and experimental basis for full flexible drive unit of the bipedrobot.
引文
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