A Robust Walking Control System of Humanoid Robot.pdfVIP

32 4 ROBOT Vol.32, No.4 2010 7 Jul., 2010 DOI 10.3724/SP.J.1218.2010.00484 12 12 12 12 1. 100083 2. 100083 ZMP TP24 TP18 A 1002-0446 2010 -04-0484-07 A Robust Walking Control System of Humanoid Robot XIE Lun12 WANG Zhiliang12 WANG Chong12 XU Jiaming12 1. School of Information Engineering, University of Science and Technology Beijing, Beijing 100083, China; 2. Key Laboratory for Advanced Control of Iron and Steel Process Ministry of Education , University of Science and Technology Beijing, Beijing 100083, China Abstract: A robust control algorithm is presented for the research platform of humanoid walking robot in order to realize dynamic equilibrium autonomously with real-time performance in the presence of external disturbances within a certain range. The robot dynamic walking process is depicted as an anthropomorphic planar mechanical system of nine links. The dynamics model of robot walking is constructed based on the Coriolis vector etc., and the constraint conditions for asymptotic stability are obtained by means of non-linear compensation. Moreover, an ideal Lyapunov function is derived whose parameters are optimized with GA genetic algorithm , and a real-time robust control algorithm is designed. The angular displacement error of each robot joint is calculated by simulation. The results show that the ZMP zero moment point is always within the range of supporting foot, and the projection of gravity center trajectory on the ground is a sine curve. The presented algorithm is applied to walking control of a real humanoid robot. The experiment results show that the robot can get to the dynamic stability autonomously in short executing epochs in the presence of external disturbances within a certain range. Keywords: humanoid walking robot; robust control algorithm; dynamic equilibrium; parameter optimization; real-time 1 Introduction 2 1 3 XK100080537 863 2007AA04Z218 FRF-BR-09-023B ygao@tsinghua.edu.cn 2009-10-16/2010-0