基于摄动理论的SLIP 模型解析化研究及其运动控制 - 机器人.PDFVIP

34 6 ROBOT Vol.34, No.6 2012 11 Nov., 2012 DOI 10.3724/SP.J.1218.2012.00689 SLIP 150080 spring loaded inverted pendulumSLIP SLIP Poincare SLIP SLIP Poincare SLIP Poincare TP242.6 A 1002-0446(2012)-06-0689-08 Research on the Analyticity of SLIP Model Based on Perturbation Theory and Locomotion Control LI Mantian YU Haitao GUO Wei WANG Pengfei CAI Hegao (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China) Abstract: An approximate analytical solution of SLIP (spring loaded inverted pendulum) model dynamics in stance phase is proposed based on perturbation theory, aiming at resolving the lack of analytical method to deal with SLIP model dynamics. The Poincare map of apex height in flight phase is established through which the entire dynamics of SLIP model is derived analytically. The error analysis results indicate that the prediction of apex height with approximate solution possesses high approximation precision. Aiming at the locomotion control of SLIP hopper, the deadbeat controller for apex height of SLIP system is designed based on the inverse Poincare map. The tracking simulation of desired step signal is implemented to show that the algorithm proposed in this paper not only can track the desired trajectory but also inhibits overshoot effectively. Furthermore, the equivalence of apex velocity control and height control is verified through analyzing the experiment curve of horizontal velocity of the center of mass,