| 摘要: |
| 高能耗问题始终是双足机器人领域亟待解决的难题，目前的研究大多专注于稳定性或能耗等单一指标，忽略了在不同地形条件下能效与稳定性的动态平衡.本文提出了基于动态加权全身控制（WWBC）的自适应双足行走系统.首先，根据步长和步速，基于机器人的运动学生成初始参考轨迹；随后，基于WWBC的框架，对机器人的步态进行适应性优化，以动态平衡步态中的能耗与稳定性；最后，构建高能效自适应的双足行走系统.通过仿真实验验证了该系统具备根据环境和地形生成自适应行走步态的能力，提高了机器人在复杂环境中的适应性. |
| 关键词: 加权全身控制（WWBC） 自适应行走步态 零力矩点（ZMP） |
| DOI：10.20192/j.cnki.JSHNU（NS）.2025.02.006 |
| 分类号:TP18 |
| 基金项目: |
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| Adaptive bipedal walking system based on weighted whole-body control |
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ZHOU Yuxuan1, AN Kang1, ZHANG Ruirui2, SONG Yaqing1
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1.College of Information, Mechanical and Electrical Engineering, Shanghai Normal University, Shanghai 201418, China;2.Chengdu Humanoid Robot Innovation Center Co., Ltd., Chengdu 610299, Sichuan, China
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| Abstract: |
| It had always been a difficult problem for the high energy consumption in the field of bipedal robots. Individual metrics such as stability or energy consumption was mainly focused on in current research， which overlooked the dynamic balance between energy efficiency and stability under varying terrain conditions. A high-efficiency bipedal walking system based on dynamic weighted whole-body control （WWBC） was proposed. Firstly， an initial reference trajectory was generated based on the robot’s motion model， considering step length and walking speed. Subsequently， within the framework of weighted whole-body control， the robot’s gait was adaptively optimized to balance energy consumption and stability dynamically. Finally， a high efficiency， adaptive bipedal walking system was developed. Simulation experiments demonstrated that this system could generate adaptive walking gaits based on environmental terrain， improving the robot’s adaptability in complex environments. |
| Key words: weighted whole-body control （WWBC） adaptive walking gait zero moment point （ZMP） |
