مدل‌سازی دینامیکی و طرح‌ریزی گام بهینه راه‌رفتن یک ربات دوپای واقعی برمبنای مدل آونگ وارون فنری و گام پرگاری

نوع مقاله : مقاله پژوهشی

نویسندگان

دانشگاه تبریز

چکیده

ربات‌های دوپا با کف پای نقطه‌ای گام سریع‌تری دارند و دینامیک طبیعی‌تری را نشان می‌دهند، در‌حالی‌که طرح‌ریزی گام این ربات‌ها به‌دلیل تحریک ناقص بسیار مشکل است. در این پژوهش به مدل‌سازی، بهینه‌سازی و طرح‌ریزی حرکت دو مدل مختلف ربات دوپای واقعی شامل مدل ربات تلسکوپی فنری و ربات پرگاری زانودار پرداخته شده‌است. همۀ این مدل‌ها فاقد کف پا هستند، حرکت چرخشی بدنۀ آنها مقید شده‌است و در صفحۀ نیم‌رخ حرکت می‌کنند. تفاوت این مدل‌ها با مدل‌های نظری مربوط این است که به‌منظور واقعیت‌بخشی به گام در این مدل‌ها زانوی پای آونگی خم‌ می‌شود، از زمین رد می­شود و قبل از برخورد به زمین صاف می­شود که باعث افزایش درجات آزادی و تقسیم فاز تک‌تکیه‌گاهی به دو زیرفاز می­شود. فازهای مختلف گام راه‌رفتن هر کدام از مدل‌ها شامل فاز تک‌تکیه‌گاهی، رخداد برخورد و فاز دو‌تکیه‌گاهی با‌استفاده از معادلات لاگرانژ مدل‌سازی شده‌است. سپس صحت معادلات مورد بررسی قرار گرفته و با اتصال این قسمت‌ها به یکدیگر گام کامل هر یک از آنها شکل گرفته‌است. درادامه، پارامترها، توابع هدف و قیدهای بهینه‌سازی ارائه شده و نمودار تغییرات این توابع مورد بحث و بررسی قرار گرفته‌است؛ سپس گشتاور موتورها در حالت گام بهینه برای هر یک از مدل‌ها نشان داده شده‌است.

کلیدواژه‌ها


عنوان مقاله [English]

Dynamic Modeling and Optimal Walking Gait Planning of a Real Biped Robot Based on SLIP and Compass gait Models

نویسندگان [English]

  • Behnam Dadashzadeh
  • Seyed Ahmad Mostafavi
  • Akbar Allahverdizadeh
University of Tabriz
چکیده [English]

Biped robots with point feet demonstrate faster gaits and more natural dynamics while their gait planning is very difficult due to their underactuation. This research focuses on modelling, optimization and gait generation of two different real biped models including a telescopic springy biped model and compass gait biped with kneed swing leg. All of these models have point feet and their torso angle is constrained and they move in sagittal plane. The main difference of these models with their corresponding theoretical models is that to give realization to the gaits of these models the knee of their swing leg bends, clears the ground and straightens before touch-down. This increases degrees of freedom and divides single support phase to two sub-phases. Different phases of walking gait of each model including single support phase, touch-down event and double support phase are modeled using Lagrange equation and validity of equations are demonstrated. Then the dynamic equations of the phases are combined together to make dynamic model of a full walking gait. Afterwards, optimization parameters, objective functions and constraints are presented and successive stages of optimization are performed to find optimal gaits. The optimization diagrams are discussed and the needed motor torques for the optimal gait of each model are illustrated.

کلیدواژه‌ها [English]

  • Biped robot
  • Walking
  • Modeling
  • Gait Optimization
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