关键词: Kane碰撞原理, 不平整地面行走, 仿人机器人, 控制策略, 大型精密装备, 减振装置, 空气悬挂, 运输车

Abstract: Since a humanoid robot tends to tip over easily while walking on uneven terrain, an online regulating control algorithm is proposed based on Kane collision theory, to prevent humanoid robot from tipping over while walking on uneven ground. This regulating algorithm can compute the dynamic model of the robot rapidly, and can estimate the values of the impacting force acting on leg by ground. These data of impacting force can be used to adjust the gait of legs and torso for a humanoid robot to pass over the scraggy obstacle successfully. By using this algorithm, walking simulations of online control on a 5-link humanoid model are performed in the MATLAB/Simulink environment and the effectiveness of the proposed algorithm is illustrated.

Key words: Control strategy, Humanoid robot, Locomoting on uneven ground Kane collision theory, Air suspension, Damping device, Large-scale precision equipment, Transporter