基于虚拟模型的四足机器人对角小跑步态控制方法

发布时间：2018-05-28 13:41

本文选题：四足机器人 + 对角小跑步态　；参考：《机器人》2016年01期

【摘要】：为提高四足机器人对角小跑运动的稳定性,实现机器人躯干6维运动方向控制的解耦,提出了一种基于虚拟模型的对角小跑步态控制方法.控制器主要包括支撑相虚拟模型控制和摆动相虚拟模型控制.在支撑相,建立了作用于躯干质心的虚拟力与对角支撑腿关节扭矩之间的数学关系,通过调整躯干虚拟力的大小控制躯干的高度与姿态,控制机器人前进速度和自转角速度.在摆动相,将机器人侧向速度控制引入到足端轨迹规划中,并通过虚拟的"弹簧-阻尼"元件驱动摆动足沿给定轨迹运动.此外,在控制器设计过程中,引入了状态机,用于监控机器人各腿的状态,并输出对角小跑步态相位切换指令.仿真实验结果表明,机器人能够以对角小跑步态在平地上进行全方位移动,跨越不平坦地形,并能够抵抗外部冲击,证明了文中控制方法的有效性和鲁棒性.
[Abstract]:In order to improve the stability of diagonal trot motion of quadruped robot and to decouple the six-dimensional motion direction control of robot torso, a virtual model-based diagonal trot gait control method is proposed. The controller mainly includes support phase virtual model control and swing phase virtual model control. In the support phase, the mathematical relationship between the virtual force acting on the center of mass of the trunk and the torque of the diagonal supporting leg joint is established. By adjusting the magnitude of the virtual force of the trunk to control the height and posture of the trunk, the forward speed and rotation angular velocity of the robot are controlled. In the swing phase, the lateral velocity control of the robot is introduced into the trajectory planning of the foot, and the swing foot is driven along the given trajectory by a virtual "spring-damping" element. In addition, a state machine is introduced in the controller design to monitor the state of each leg of the robot and output the diagonal trot gait phase switching instruction. The simulation results show that the robot can move on flat ground in diagonal trot gait, cross uneven terrain and resist external shock. The effectiveness and robustness of the proposed control method are proved.
【作者单位】：山东大学控制科学与工程学院;
【基金】：国家863计划(2015AA042201) 国家自然科学基金(61233014,61305130) 山东省自然科学基金(ZR2013FQ003,ZR2013EEM027) 中国博士后科学基金(2013M541912)
【分类号】：TP242

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