面向离散地形的欠驱动双足机器人平衡控制方法

To keep the balance of the underactuated biped robot during walking, its feet need to move continuously. However, it is difficult to achieve the adjusted foothold on the discrete terrain with only a specific foothold, which decreases the adaptability of underactuated biped robots in complex environments. This paper proposes a variable step-size adjustment and control method based on virtual constraints (VC). Time-invariant scaling factors are designed according to the underactuated biped robot’s current state and reference point, which can reconstruct the gait trajectory by adapting to the current environment in real-time. Meanwhile, the whole body dynamics model is constructed. The torque control is generated by rolling optimization using model predictive control (MPC) with feedback linearization to achieve accurate trajectory tracking control. Finally, an underactuated biped robot walking stably on random discrete terrain is simulated to verify the effectiveness and robustness of the proposed method.