基于扩展卡尔曼滤波的足式机器人运动速度估计研究-机械电子工程专业论文.docxVIP

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 万方数据 万方数据 Abstract Legged robot is an important part of mobile robot. Compared with wheeled and tracked robot, legged robot could select its footholds itself and therefore surmount obstacles, which has great potential in mountain transport, rescue, military fields, etc. Currently, fast dynamic walking of legged robot has become the research focus at home and abroad, while the realtime motion parameters, such as body attitude and velocity, are the feedback information needed for robot’s stable motion control. However,there usually exists bias and random errors in the inertial measurement unit (IMU), therefore the velocity integration drifts heavily. Moreover, the legged robot’s impact and vibration caused by interaction of feet and ground, makes the velocity estimation more difficult. How to estimate the velocity of legged robot at lower cost by utilizing its structure, proprietary sensors and IMU, has become an important research direction in robots navigation technology. The thesis compared several methods of robot’s state estimation, and fused the strapdown inertial navigation system (SINS) and forward kinematics by extended kalman filter (EKF) to acquire stable velocity estimation for the biped and quadruped. Firstly, the processing of MEMS-SINS was researched for the recognition of bias and random errors, and then its navigation solution was also studied. Both the static and on-line calibration of accelerometers were studied and compared, realizing the dynamic recognition and compensation of bias. The random errors of accelerometer were recognized by means of Allan variance, which laid the foundation for data fusion algorithm. Furthermore, the thesis researched and simplified the method of velocity integration according to the SINS mechanization and the actual robot locomotion. The slider experiment was conducted and validated the SINS performance, processing method and navigation solution preliminarily. Secondly, according to t