具有主动腰关节的四足机器人在间歇性对角小跑步态下的姿态平衡控制
发布时间：2019-01-16 09:06
【摘要】：提出一种由前轮腿模块、后轮腿模块和主动腰关节模块组成的轮腿式机器人.研究发现,拥有刚性腰关节模块的轮腿式机器人在以对角小跑步态行进的过程中处于振荡的非平衡态.为此,借鉴四足动物生物学研究成果以及基于ZMP(零力矩点)的实时性摆动补偿轨迹规划,本文利用主动腰关节模块来提高轮腿式机器人在间歇性小跑步态下的稳定性.对上述的轮腿式机器人进行运动学和动力学建模,通过仿真实验证实了添加偏航关节的规律性摆动可以大幅减少和改善机体的倾斜振荡,机体的倾斜幅度由原先的62.2 mm降至12.8 mm,明显提升了机器人在间歇性小跑步态下的运动稳定性.
[Abstract]:A wheel-leg robot is proposed, which consists of front wheel leg module, rear wheel leg module and active waist joint module. It is found that the wheel-legged robot with rigid waist joint module is in an oscillating non-equilibrium state during the gait of diagonal trot. In order to improve the stability of wheel-legged robot under intermittent trot gait the active waist joint module is used to improve the stability of wheel-legged robot under intermittent trot gait using ZMP (zero moment point) real-time compensation trajectory planning for reference of quadruped animal biology. The kinematics and dynamics modeling of the wheel-leg robot is carried out. The simulation results show that the regular swing of the yaw joint can greatly reduce and improve the tilt oscillation of the body. The tilt range of the robot decreased from 62.2 mm to 12.8 mm, which significantly improved the stability of the robot under the intermittent trot gait.
【作者单位】： 东南大学仪器科学与工程学院;南京工程学院自动化学院;
【基金】：国家自然科学基金(61375076) 江苏省“六大人才高峰”高层次人才选拔培养项目(WLW-010)
【分类号】：TP242
，
本文编号：2409676
[Abstract]:A wheel-leg robot is proposed, which consists of front wheel leg module, rear wheel leg module and active waist joint module. It is found that the wheel-legged robot with rigid waist joint module is in an oscillating non-equilibrium state during the gait of diagonal trot. In order to improve the stability of wheel-legged robot under intermittent trot gait the active waist joint module is used to improve the stability of wheel-legged robot under intermittent trot gait using ZMP (zero moment point) real-time compensation trajectory planning for reference of quadruped animal biology. The kinematics and dynamics modeling of the wheel-leg robot is carried out. The simulation results show that the regular swing of the yaw joint can greatly reduce and improve the tilt oscillation of the body. The tilt range of the robot decreased from 62.2 mm to 12.8 mm, which significantly improved the stability of the robot under the intermittent trot gait.
【作者单位】： 东南大学仪器科学与工程学院;南京工程学院自动化学院;
【基金】：国家自然科学基金(61375076) 江苏省“六大人才高峰”高层次人才选拔培养项目(WLW-010)
【分类号】：TP242
，
本文编号：2409676
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