基于能量规划的崎岖地面四足机器人平面跳跃控制

发布时间：2018-08-10 22:27

【摘要】：针对四足机器人传统奔跑控制方法中存在的俯仰角波动以及崎岖地形适应问题,提出了一种基于Trot具有前后脚同时支撑步态的崎岖地形跳跃控制方法。建立了步态支撑相平面运动模型,并通过虚拟模型控制,实现了躯干平面运动控制解耦。对虚拟模型中躯干的运动过程进行了能量规划,计算出纵向虚拟位置刚度,实现了跳跃周期控制;通过水平方向虚拟力的比例控制实现了机器人水平运动速度控制;采用大位置误差增益的PD控制方法实现了躯干姿态控制,保证了跳跃过程中躯干俯仰角的稳定。在虚拟物理仿真环境中建立了四足机器人的平面虚拟样机,对控制方法进行了仿真实验以及在假设条件不满足情况下的鲁棒性测试,仿真实验结果表明了该方法对跳跃控制的有效性。
[Abstract]:Aiming at the problems of pitch angle fluctuation and rugged terrain adaptation in the traditional running control method of quadruped robot, a method of rugged terrain jump control based on Trot with both front and rear foot supporting gait is proposed. A gait supporting phase plane motion model is established, and the trunk plane motion control is realized by virtual model control. Decoupling. The energy planning of the trunk motion in the virtual model is carried out, the longitudinal virtual position stiffness is calculated, and the hopping period control is realized; the horizontal velocity control of the robot is realized by the proportional control of the horizontal virtual force; and the trunk attitude control is realized by the PD control method with large position error gain to ensure the hopping. A virtual prototype of quadruped robot is built in the virtual physical simulation environment. The control method is simulated and the robustness is tested when the assumptions are not satisfied. The simulation results show that the method is effective for the jump control.
【作者单位】：山东大学控制科学与工程学院;济南大学自动化与电气工程学院;
【基金】：“863”国家高技术研究发展计划项目(2015AA042201) 国家自然科学基金项目(61233014);国家自然科学基金青年科学基金项目(61203083;61503153) 山东省自然科学基金项目(ZR2013EEM027)
【分类号】：TP242

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