液压驱动型四足机器人对角小跑步态本体水平位置控制方法

发布时间：2018-06-26 19:25

  本文选题：四足机器人 + 对角小跑　； 参考：《国防科技大学学报》2017年01期

【摘要】：为了对对角小跑中四足机器人本体的水平位置进行控制,建立基于沿支撑线方向运动分解的机器人近似动力学模型,将本体和对角支撑腿简化为一个七连杆结构和一个线性倒立摆,并且基于线性倒立摆解析模型提出摆动腿落足点位置计算方法,进而实现对本体水平位置的控制。针对液压作动器伸缩速度受限的问题,利用单腿冗余关节将关节角速度优化问题转化为标准二次型规划问题,通过设计二次型规划问题解法,降低对摆动腿关节角速度的需求,并且避免了传统伪逆方法可能产生的腿部奇异位型。仿真和实验结果表明:该方法能够实现在关节角速度受限的情况下,有效跟踪本体水平位置的期望轨迹。
[Abstract]:In order to control the horizontal position of the quadruped robot in diagonal trot, an approximate dynamic model of the robot based on the motion decomposition along the support line is established. The body and diagonal supporting leg are simplified into a seven-bar structure and a linear inverted pendulum. Based on the analytical model of the pendulum, a method for calculating the foot position of the swing leg is proposed, which can control the horizontal position of the body. Aiming at the problem of limited expansion speed of hydraulic actuator, the problem of joint angular velocity optimization is transformed into a standard quadratic programming problem by using single leg redundant joint, and the need for angular velocity of swing leg joint is reduced by designing a quadratic programming method. And it avoids the leg singularity which may be produced by the traditional pseudo-inverse method. Simulation and experimental results show that the proposed method can effectively track the desired trajectory of the horizontal position of the body when the angular velocity of the joint is limited.
【作者单位】： 国防科技大学机电工程与自动化学院;
【基金】：国家自然科学基金资助项目(61473304) 国家863计划资助项目(2015AA042202)
【分类号】：TP242
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本文编号：2071145