高速跳跃四足机器人变刚度阻抗控制方法研究
发布时间：2019-03-31 20:44
【摘要】：随着足式机器人领域研究的不断深入,逐渐形成重载型和高速型两个研究分支,然而像自然界猎豹一样具有高速高加速度运动能力的四足机器人屈指可数,传统通过物理阻抗元件调节腿部阻抗来实现机器人中低速运动的研究大大滞后目前机器人领域对高速足式机器人的需求,因此以高速为研究目标的四足仿生机器人越来越受到国内外学者的高度重视。研究表明,变刚度主动阻抗控制可以替代传统被动阻抗控制,对于提升机器人运动速度具有重要意义。针对被动阻抗控制不仅刚度调节范围小,而且容易造成结构笨重复杂,以及机器人腿部阻抗计算需要对足底力做正弦力理想化近似,同时着地时间的计算又无法实时检测,存在一定滞后性等问题,本文重点开展了高速跳跃四足机器人变刚度阻抗控制方法研究,通过联合仿真对比实验验证了控制方法的正确性与有效性。具体开展如下研究:首先,针对上述被动阻抗控制方法所存在的问题,本文基于主动阻抗控制方法,结合具有虚拟阻抗参数的SLIP模型,通过建立着地相模型竖直方向受力平衡方程获得腿部刚度的解析解,以及腿部刚度与运动速度的关系,在此基础上,研究了变刚度阻抗控制策略。其次,为验证变刚度阻抗控制方法的正确性与有效性,以单腿子系统为实验平台,将单腿子系统等效成一条具有虚拟阻抗参数的弹簧腿,利用上述变刚度阻抗控制方法,并研究机器人高度控制、速度控制以及贝塞尔曲线足端轨迹规划方法。在上述控制方法的基础上,进行单腿子系统联合仿真对比实验,实验结果验证了利用刚度计算方法与变刚度阻抗控制策略对于提升机器人速度的正确性与有效性。该腿部刚度计算方法不仅计算精度较高,而且可以满足高速跳跃对于控制系统实时性高的要求。然后,在上述基础上,建立了四足机器人平面模型,分析了双飞行相跳跃步态,研究了机器人高度控制、速度控制、俯仰角控制以及镜像腿控制等控制方法,并对四足机器人平面模型进行受力分析,将控制力转化为驱动力,为验证变刚度阻抗控制方法在跳跃步态下提升足式机器人速度的正确性与有效性提供理论基础。最后,进行了四足机器人跳跃步态变刚度阻抗控制实验,通过虚拟样机联合仿真对比实验,验证了变刚度阻抗控制方法在高速高加速度跳跃步态下对于提升足式机器人运动速度的正确性与有效性。最终实现跳跃步态下四足机器人每秒十倍身长高速高加速度稳定跳跃运动。
[Abstract]:With the further research in the field of foot robots, two branches of research are gradually formed: heavy load type and high speed type. However, only a few quadruped robots, like Cheetah in nature, have the ability of high-speed and high-speed motion. The traditional research on how to adjust leg impedance by physical impedance element to realize the low-speed motion of robot lags far behind the requirement of high-speed foot robot in the field of robot at present. Therefore, the high-speed quadruped bionic robot has been paid more and more attention by scholars at home and abroad. The research shows that the variable stiffness active impedance control can replace the traditional passive impedance control, which is of great significance to the acceleration of the robot's moving speed. The passive impedance control not only has a small range of stiffness adjustment, but also makes the structure cumbersome and complex, and the calculation of robot leg impedance requires idealized approximation of the sine force on the foot floor, and the calculation of the landing time can not be detected in real time. In this paper, the variable stiffness impedance control method of the high-speed jumping quadruped robot is studied, and the validity and correctness of the control method are verified by the joint simulation and comparison experiment. The main contents are as follows: firstly, aiming at the problems existing in the above passive impedance control methods, based on the active impedance control method, this paper combines the SLIP model with virtual impedance parameters. The analytical solution of leg stiffness and the relationship between leg stiffness and velocity are obtained by establishing the equilibrium equation of vertical force on the ground phase model. On the basis of this, the variable stiffness impedance control strategy is studied. Secondly, in order to verify the correctness and effectiveness of the variable stiffness impedance control method, the single leg subsystem is equivalent to a spring leg with virtual impedance parameters on the experimental platform, and the variable stiffness impedance control method is used. The robot height control, velocity control and Bessel curve foot trajectory planning method are also studied. On the basis of the above-mentioned control methods, the joint simulation experiments of the single leg subsystem are carried out. The experimental results show that the stiffness calculation method and the variable stiffness impedance control strategy are correct and effective in improving the speed of the robot. The leg stiffness calculation method is not only accurate, but also can meet the requirements of high-speed jump for real-time control system. Then, the plane model of quadruped robot is established, and the biphase jumping gait is analyzed. The control methods such as height control, velocity control, pitch angle control and mirror leg control are studied. By analyzing the plane model of the quadruped robot, the control force is transformed into the driving force, which provides a theoretical basis for verifying the correctness and effectiveness of the variable stiffness impedance control method for raising the speed of the foot robot under the jumping gait. Finally, the quadruped robot jump gait variable stiffness impedance control experiment is carried out, and the virtual prototype combined simulation and contrast experiment is carried out. The validity and validity of the variable stiffness impedance control method in high-speed and high-acceleration jumping gait are verified to improve the motion speed of foot robot. Finally, the four-legged robot is 10 times longer per second, high-speed and high-acceleration stable jump motion in jump gait.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2451260
[Abstract]:With the further research in the field of foot robots, two branches of research are gradually formed: heavy load type and high speed type. However, only a few quadruped robots, like Cheetah in nature, have the ability of high-speed and high-speed motion. The traditional research on how to adjust leg impedance by physical impedance element to realize the low-speed motion of robot lags far behind the requirement of high-speed foot robot in the field of robot at present. Therefore, the high-speed quadruped bionic robot has been paid more and more attention by scholars at home and abroad. The research shows that the variable stiffness active impedance control can replace the traditional passive impedance control, which is of great significance to the acceleration of the robot's moving speed. The passive impedance control not only has a small range of stiffness adjustment, but also makes the structure cumbersome and complex, and the calculation of robot leg impedance requires idealized approximation of the sine force on the foot floor, and the calculation of the landing time can not be detected in real time. In this paper, the variable stiffness impedance control method of the high-speed jumping quadruped robot is studied, and the validity and correctness of the control method are verified by the joint simulation and comparison experiment. The main contents are as follows: firstly, aiming at the problems existing in the above passive impedance control methods, based on the active impedance control method, this paper combines the SLIP model with virtual impedance parameters. The analytical solution of leg stiffness and the relationship between leg stiffness and velocity are obtained by establishing the equilibrium equation of vertical force on the ground phase model. On the basis of this, the variable stiffness impedance control strategy is studied. Secondly, in order to verify the correctness and effectiveness of the variable stiffness impedance control method, the single leg subsystem is equivalent to a spring leg with virtual impedance parameters on the experimental platform, and the variable stiffness impedance control method is used. The robot height control, velocity control and Bessel curve foot trajectory planning method are also studied. On the basis of the above-mentioned control methods, the joint simulation experiments of the single leg subsystem are carried out. The experimental results show that the stiffness calculation method and the variable stiffness impedance control strategy are correct and effective in improving the speed of the robot. The leg stiffness calculation method is not only accurate, but also can meet the requirements of high-speed jump for real-time control system. Then, the plane model of quadruped robot is established, and the biphase jumping gait is analyzed. The control methods such as height control, velocity control, pitch angle control and mirror leg control are studied. By analyzing the plane model of the quadruped robot, the control force is transformed into the driving force, which provides a theoretical basis for verifying the correctness and effectiveness of the variable stiffness impedance control method for raising the speed of the foot robot under the jumping gait. Finally, the quadruped robot jump gait variable stiffness impedance control experiment is carried out, and the virtual prototype combined simulation and contrast experiment is carried out. The validity and validity of the variable stiffness impedance control method in high-speed and high-acceleration jumping gait are verified to improve the motion speed of foot robot. Finally, the four-legged robot is 10 times longer per second, high-speed and high-acceleration stable jump motion in jump gait.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
【参考文献】
相关硕士学位论文 前3条
1 邴振山;面向高速奔跑足式机器人关节腿结构与变阻抗控制研究[D];哈尔滨工业大学;2015年
2 蔡昌荣;脊柱型四足机器人跳跃步态动力学建模及特性研究[D];哈尔滨工业大学;2013年
3 王浩威;四足机器人跳跃步态参数分析及优化研究[D];哈尔滨工业大学;2011年
，本文编号：2451260
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